# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/PickPlaceCounterToStandMixer/seed_195/episode_000000/refinement/20260403/PickPlaceCounterToStandMixer/iter_001/candidate.py
# Compression note: target_retained_waypoints=12; actual_retained_waypoints=12; keep_counts={0: 3, 1: 3, 2: 3, 3: 3}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToStandMixer/20260324_205324_pick-place-counter-to-stand-mixer_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToStandMixer', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToStandMixer/20260324_205324_pick-place-counter-to-stand-mixer_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToStandMixer/20260324_205324_pick-place-counter-to-stand-mixer_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/PickPlaceCounterToStandMixer/20260324_205324_pick-place-counter-to-stand-mixer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 103, 'stable_release_contact_loss_t': 205, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.014476, -1.078757, -0.024756, -2.256547, 0.035256, 1.537006, 0.704026], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.120711, -0.249995, 0.728789, -2.232199, -0.035272, 1.679642, 1.885662], 'input_type': 'joint', 'steps': 50, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.053465, -0.281997, 0.669963, -2.592726, -0.226943, 2.264702, 2.153445], 'input_type': 'joint', 'steps': 42, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.052379, -0.276793, 0.670364, -2.58697, -0.232858, 2.257449, 2.160471], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.048791, -0.270066, 0.667941, -2.578228, -0.239113, 2.246131, 2.166813], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.036811, -0.261565, 0.657185, -2.568613, -0.248068, 2.235002, 2.17475], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [-0.026343, -0.269429, 0.655538, -2.568506, -0.245856, 2.222751, 2.180157], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.0553, -0.993329, 0.210691, -2.666409, -0.141514, 1.786533, 1.504015], 'input_type': 'joint', 'steps': 53, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.039777, -1.267924, 0.155905, -2.606604, -0.155333, 1.710073, 1.460328], 'input_type': 'joint', 'steps': 48, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_02 = [
    {'target': [-0.039095, -1.29144, 0.153035, -2.591079, -0.15627, 1.699012, 1.457962], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.035192, -1.45149, 0.138444, -2.540466, -0.150511, 1.65475, 1.456591], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.027525, -1.609224, 0.134169, -2.598869, -0.137082, 1.659221, 1.437377], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': -1.0},
]

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=[-0.030764, -0.26286, 0.654591, -2.568577, -0.248061, 2.23009, 2.177405], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[-0.030764, -0.26286, 0.654591, -2.568577, -0.248061, 2.23009, 2.177405], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.05, hold_target=[-0.039777, -1.267924, 0.155905, -2.606604, -0.155333, 1.710073, 1.460328], input_type='joint', gripper=-1.0)
release(hold_target=[-0.039777, -1.267924, 0.155905, -2.606604, -0.155333, 1.710073, 1.460328], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[-0.039777, -1.267924, 0.155905, -2.606604, -0.155333, 1.710073, 1.460328], input_type='joint', gripper=-1.0)
run_joint_sequence(MOTION_SEQUENCE_02)


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; keep_counts={0: 3, 1: 1, 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/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceCounterToStove', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToStove/20260324_205325_pick-place-counter-to-stove_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 108, 'stable_release_contact_loss_t': 204, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.008776, -1.05345, -0.007885, -2.280536, 0.030928, 1.524001, 0.744791], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.251799, -0.073357, -1.30999, -2.045342, -0.085121, 2.40746, 0.8621], 'input_type': 'joint', 'steps': 67, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.671236, 0.763885, -0.487105, -1.226833, 0.349429, 2.08554, 0.658269], 'input_type': 'joint', 'steps': 39, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.682481, 0.784092, -0.485555, -1.195623, 0.355749, 2.079931, 0.655245], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [-0.693918, 0.803603, -0.483324, -1.162822, 0.361107, 2.070217, 0.653704], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.17465, -0.056786, -0.47559, -2.216851, 0.124477, 2.141823, 0.804894], 'input_type': 'joint', 'steps': 53, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.167672, -0.041722, -0.476182, -2.21745, 0.133615, 2.160329, 0.802705], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.158087, 0.032074, -0.524612, -2.250449, 0.516771, 2.274081, -0.128883], 'input_type': 'joint', 'steps': 41, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_02 = [
    {'target': [-0.171551, 0.000371, -0.543277, -2.26679, 0.578583, 2.242458, -0.334314], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.121301, -0.825146, -1.241665, -2.283829, 0.242654, 1.951418, -0.771544], 'input_type': 'joint', 'steps': 44, 'settle_steps': 0, 'gripper': -1.0},
]

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=[-0.682481, 0.784092, -0.485555, -1.195623, 0.355749, 2.079931, 0.655245], input_type='joint', gripper=-0.3)
grasp(hold_target=[-0.682481, 0.784092, -0.485555, -1.195623, 0.355749, 2.079931, 0.655245], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[-0.682481, 0.784092, -0.485555, -1.195623, 0.355749, 2.079931, 0.655245], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.05, hold_target=[-0.158087, 0.032074, -0.524612, -2.250449, 0.516771, 2.274081, -0.128883], input_type='joint', gripper=-1.0)
release(hold_target=[-0.158087, 0.032074, -0.524612, -2.250449, 0.516771, 2.274081, -0.128883], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[-0.158087, 0.032074, -0.524612, -2.250449, 0.516771, 2.274081, -0.128883], input_type='joint', gripper=-1.0)
run_joint_sequence(MOTION_SEQUENCE_02)

Pick the onion from the plate and place it in the pan.

container

all pan receptacle cookware pots_and_pans

all plate receptacle container container_set2


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceCounterToToasterOven/20260324_205326_pick-place-counter-to-toaster-oven_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/PickPlaceCounterToToasterOven/20260324_205326_pick-place-counter-to-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': 'PickPlaceCounterToToasterOven', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceCounterToToasterOven/20260324_205326_pick-place-counter-to-toaster-oven_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceCounterToToasterOven/20260324_205326_pick-place-counter-to-toaster-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceCounterToToasterOven/20260324_205326_pick-place-counter-to-toaster-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 78, 'stable_release_contact_loss_t': 190, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.007579, -1.023571, -0.021337, -2.264957, 0.04488, 1.570495, 0.71552], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.067743, -0.498765, -0.827139, -2.374204, -0.346525, 1.896714, 0.611366], 'input_type': 'joint', 'steps': 41, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.128134, 0.095918, -0.700481, -2.194257, 0.084417, 1.956895, 0.274751], 'input_type': 'joint', 'steps': 27, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.139382, 0.09549, -0.688337, -2.194105, 0.081815, 1.957105, 0.277791], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.194792, 0.084242, -0.630003, -2.196496, 0.062618, 1.954054, 0.293001], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [-0.203588, 0.073129, -0.62099, -2.202061, 0.054486, 1.944704, 0.29431], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.319475, -1.714721, -0.148044, -2.218014, 0.246961, 1.160083, 1.384704], 'input_type': 'joint', 'steps': 47, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.04315, -1.224793, 0.619158, -3.060931, 0.692328, 2.604997, 2.086491], 'input_type': 'joint', 'steps': 54, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.03196, -1.169736, 0.613571, -3.043726, 0.691723, 2.648758, 2.065093], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.020577, -0.956545, 0.581248, -2.956251, 0.664141, 2.758663, 1.998116], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_02 = [
    {'target': [-0.051305, -0.82525, 0.55767, -2.890628, 0.619842, 2.802639, 1.97556], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.057259, -1.626808, 0.110982, -2.43283, 0.252367, 1.906015, 2.373305], 'input_type': 'joint', 'steps': 35, 'settle_steps': 0, 'gripper': -1.0},
]

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=[-0.199577, 0.079049, -0.625256, -2.198286, 0.058738, 1.949239, 0.293688], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[-0.199577, 0.079049, -0.625256, -2.198286, 0.058738, 1.949239, 0.293688], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.05, hold_target=[-0.020577, -0.956545, 0.581248, -2.956251, 0.664141, 2.758663, 1.998116], input_type='joint', gripper=-1.0)
release(hold_target=[-0.020577, -0.956545, 0.581248, -2.956251, 0.664141, 2.758663, 1.998116], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[-0.020577, -0.956545, 0.581248, -2.956251, 0.664141, 2.758663, 1.998116], input_type='joint', gripper=-1.0)
run_joint_sequence(MOTION_SEQUENCE_02)

Place the baguette on the rack of the toaster oven.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/PickPlaceDrawerToCounter/20260413_t3_k21_9dda7bdff2c6_PickPlaceDrawerToCounter_source-compressed.py
# Compression note: exact_cap single delete (4, 1)

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceDrawerToCounter/20260324_205327_pick-place-drawer-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': 'PickPlaceDrawerToCounter', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceDrawerToCounter/20260324_205327_pick-place-drawer-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceDrawerToCounter/20260324_205327_pick-place-drawer-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceDrawerToCounter/20260324_205327_pick-place-drawer-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 269, 'stable_release_contact_loss_t': 349, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'primitive': 'moveJoint', 'target': [0.010396, -1.050886, -0.002893, -2.290899, 0.041218, 1.521216, 0.680353], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_01 = [
    {'primitive': 'moveJoint', 'target': [0.156524, 0.915541, 0.069163, -1.37746, -0.616293, 2.099718, 0.135246], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.171896, 1.199094, 0.035199, -0.995293, -0.509725, 2.028543, 0.004991], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.172041, 1.208884, 0.033537, -0.977382, -0.500945, 2.016057, -0.009149], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [0.13809, 1.27495, -0.015255, -0.859998, -0.405544, 1.898761, -0.170524], 'input_type': 'joint', 'steps': 12, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_02 = [
    {'primitive': 'moveJoint', 'target': [0.066815, 1.230737, -0.031564, -0.91705, -0.289645, 1.895047, -0.312202], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.112995, -0.627673, -0.27225, -2.476955, 0.225662, 2.154172, -1.120138], 'input_type': 'joint', 'steps': 39, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.030822, -0.385914, -0.597203, -2.51643, -0.146144, 2.543794, -0.872529], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.10554, 0.271589, -0.549347, -2.155929, 0.802556, 2.793113, -1.638793], 'input_type': 'joint', 'steps': 19, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.130164, 0.277573, -0.53001, -2.13315, 0.800994, 2.777313, -1.633976], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.237632, 0.297339, -0.449051, -2.06207, 0.787955, 2.727938, -1.623652], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_03 = [
    {'primitive': 'moveJoint', 'target': [-0.28522, 0.289112, -0.402721, -2.044043, 0.838361, 2.723525, -1.660594], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.210686, -0.543638, -0.217516, -2.67789, 1.828859, 3.144119, -2.849727], 'input_type': 'joint', 'steps': 21, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.159388, -0.685345, 0.465298, -3.075445, 1.553586, 3.628385, -2.424223], 'input_type': 'joint', 'steps': 9, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.095905, -0.535159, 0.827207, -3.071558, 1.793682, 3.752815, -2.519407], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},
]

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)
moveWholeBodyPath(body_waypoints=[pose(x=0.444022, y=0.010068, z=1.293437, qw=-0.089345, qx=-0.656103, qy=-0.741234, qz=-0.110085), pose(x=0.700783, y=0.004474, z=0.856144, qw=0.050857, qx=-0.664264, qy=-0.745759, qz=-0.003121), pose(x=0.678785, y=0.314579, z=0.880118, qw=-0.047883, qx=-0.631314, qy=-0.759813, qz=-0.147765), pose(x=0.707887, y=0.123921, z=1.107443, qw=0.093249, qx=-0.371498, qy=-0.889948, qz=0.247559), pose(x=0.897219, y=0.079214, z=0.782622, qw=-0.043291, qx=-0.168598, qy=-0.956974, qz=0.232168)], base_waypoints=[[2.936284, -1.173742, 1.570803], [3.509973, -0.953977, 3.052205], [3.512099, -0.953891, 3.051756], [3.511902, -0.953731, 3.048378], [3.511913, -0.953737, 3.048035]], base_modes=[1.0, 1.0, 1.0, 1.0, 1.0], torso_targets=[0.0, 0.001421, 0.004051, 0.003753, 0.003751], segment_steps=[4, 116, 24, 40, 51], settle_steps=0, gripper=-1.0, gripper_cmds=[], body_motion_priority=1.0, base_xy_priority=1.0, base_yaw_priority=1.0, base_position_gain=5.5, base_yaw_gain=4.8, base_position_ff_gain=24.0, base_yaw_ff_gain=24.0, base_ee_anchor_mix=0.35)
run_single_waypoint_sequence(MOTION_SEQUENCE_01)
grasp(hold_target=[0.082974, 1.246445, -0.031985, -0.896393, -0.319541, 1.895349, -0.27686], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[0.082974, 1.246445, -0.031985, -0.896393, -0.319541, 1.895349, -0.27686], input_type='joint', gripper=1.0)
run_single_waypoint_sequence(MOTION_SEQUENCE_02)
wait(duration=0.05, hold_target=[-0.237632, 0.297339, -0.449051, -2.06207, 0.787955, 2.727938, -1.623652], input_type='joint', gripper=-1.0)
release(hold_target=[-0.237632, 0.297339, -0.449051, -2.06207, 0.787955, 2.727938, -1.623652], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[-0.237632, 0.297339, -0.449051, -2.06207, 0.787955, 2.727938, -1.623652], input_type='joint', gripper=-1.0)
run_single_waypoint_sequence(MOTION_SEQUENCE_03)

Pick the wooden spoon from the drawer and place it on the counter.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_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/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PickPlaceFridgeDrawerToShelf', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceFridgeDrawerToShelf/20260324_205328_pick-place-fridge-drawer-to-shelf_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 91, 'stable_release_contact_loss_t': 198, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.005403, -1.015643, -0.05514, -2.277775, 0.045616, 1.503347, 0.67599], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.041518, -0.232318, -0.362423, -2.668618, -0.119247, 2.368447, 0.730516], 'input_type': 'joint', 'steps': 47, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.140003, 0.474545, -0.166573, -2.233373, 0.366136, 2.635707, 0.585311], 'input_type': 'joint', 'steps': 37, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.141522, 0.488591, -0.163301, -2.208699, 0.359644, 2.62951, 0.595064], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.15074, 0.525951, -0.160039, -2.13022, 0.331133, 2.576771, 0.62129], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [-0.152534, 0.525193, -0.160398, -2.125896, 0.327707, 2.567413, 0.623215], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.066615, -0.585488, -0.275269, -2.569267, 0.093061, 2.289861, 0.790509], 'input_type': 'joint', 'steps': 47, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.006001, 0.41214, 0.021966, -1.569313, 0.196554, 2.629116, 1.032204], 'input_type': 'joint', 'steps': 48, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.006068, 0.431289, 0.021073, -1.539635, 0.193358, 2.616762, 1.036477], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.007685, 0.418362, 0.022869, -1.529079, 0.186455, 2.578544, 1.039638], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_02 = [
    {'target': [0.007637, 0.387666, 0.025551, -1.575148, 0.194494, 2.619394, 1.029099], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.045612, -0.741295, 0.046024, -2.519395, 0.105337, 2.68826, 1.254165], 'input_type': 'joint', 'steps': 27, 'settle_steps': 0, 'gripper': -1.0},
]

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=[-0.15074, 0.525951, -0.160039, -2.13022, 0.331133, 2.576771, 0.62129], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[-0.15074, 0.525951, -0.160039, -2.13022, 0.331133, 2.576771, 0.62129], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.05, hold_target=[0.007685, 0.418362, 0.022869, -1.529079, 0.186455, 2.578544, 1.039638], input_type='joint', gripper=-1.0)
release(hold_target=[0.007685, 0.418362, 0.022869, -1.529079, 0.186455, 2.578544, 1.039638], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[0.007685, 0.418362, 0.022869, -1.529079, 0.186455, 2.578544, 1.039638], input_type='joint', gripper=-1.0)
run_joint_sequence(MOTION_SEQUENCE_02)

Pick the eggplant from the fridge drawer and place it on a fridge shelf.

obj

all eggplant vegetable food in_container oven_ready


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceFridgeShelfToDrawer/20260324_205329_pick-place-fridge-shelf-to-drawer_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; keep_counts={0: 2, 1: 2, 2: 3, 3: 1, 4: 2}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceFridgeShelfToDrawer/20260324_205329_pick-place-fridge-shelf-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': 'PickPlaceFridgeShelfToDrawer', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceFridgeShelfToDrawer/20260324_205329_pick-place-fridge-shelf-to-drawer_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceFridgeShelfToDrawer/20260324_205329_pick-place-fridge-shelf-to-drawer_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceFridgeShelfToDrawer/20260324_205329_pick-place-fridge-shelf-to-drawer_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 151, 'stable_release_contact_loss_t': 338, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.003668, -1.093195, -0.026209, -2.304724, 0.010968, 1.525182, 0.694844], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.465969, 0.600454, -0.361502, -0.592588, 0.41558, 1.871958, 0.469715], 'input_type': 'joint', 'steps': 146, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.480146, 0.620987, -0.346199, -0.554498, 0.408205, 1.859621, 0.476306], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.521365, 0.67323, -0.28161, -0.453756, 0.359937, 1.826077, 0.495227], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [-0.520356, 0.674412, -0.277412, -0.449237, 0.346845, 1.822093, 0.495459], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.129092, 0.154146, -0.609716, -2.487847, 0.065196, 2.429923, -0.127217], 'input_type': 'joint', 'steps': 83, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.48454, 1.712984, -0.111889, -1.086323, 0.376427, 2.589687, -0.217885], 'input_type': 'joint', 'steps': 86, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.483024, 1.754002, -0.120673, -1.001853, 0.35612, 2.543242, -0.18531], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_02 = [
    {'target': [-0.49006, 1.733839, -0.128087, -0.992974, 0.321333, 2.470229, -0.150023], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.372013, 0.745567, -0.180022, -2.092085, 0.436193, 2.524284, -0.146343], 'input_type': 'joint', 'steps': 34, 'settle_steps': 0, 'gripper': -1.0},
]

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=[-0.521365, 0.67323, -0.28161, -0.453756, 0.359937, 1.826077, 0.495227], input_type='joint', gripper=-0.3)
grasp(hold_target=[-0.521365, 0.67323, -0.28161, -0.453756, 0.359937, 1.826077, 0.495227], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[-0.521365, 0.67323, -0.28161, -0.453756, 0.359937, 1.826077, 0.495227], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.05, hold_target=[-0.483024, 1.754002, -0.120673, -1.001853, 0.35612, 2.543242, -0.18531], input_type='joint', gripper=-1.0)
release(hold_target=[-0.483024, 1.754002, -0.120673, -1.001853, 0.35612, 2.543242, -0.18531], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[-0.483024, 1.754002, -0.120673, -1.001853, 0.35612, 2.543242, -0.18531], input_type='joint', gripper=-1.0)
run_joint_sequence(MOTION_SEQUENCE_02)

Pick the kiwi from the fridge shelf and place it in the fridge drawer.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-to-counter_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=12; actual_retained_waypoints=12; keep_counts={0: 3, 1: 2, 2: 2, 3: 3, 4: 2}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-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': 'PickPlaceMicrowaveToCounter', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceMicrowaveToCounter/20260324_205330_pick-place-microwave-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 88, 'stable_release_contact_loss_t': 319, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.025372, -1.024076, 0.001044, -2.277706, 0.054431, 1.522722, 0.681805], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.030071, -0.771407, 0.22317, -2.255702, 0.017408, 2.211046, 0.934137], 'input_type': 'joint', 'steps': 44, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.039064, -0.250945, 0.187167, -1.916305, -0.166546, 2.223972, 1.226596], 'input_type': 'joint', 'steps': 37, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.037294, -0.250285, 0.186821, -1.914427, -0.167474, 2.221583, 1.228135], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.034202, -0.249182, 0.185624, -1.911425, -0.168959, 2.218205, 1.230222], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [-0.029864, -0.247712, 0.180359, -1.908975, -0.17075, 2.215922, 1.229945], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.004855, -0.412634, 0.160333, -2.001272, -0.039906, 2.139091, 1.033121], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_02 = [
    {'target': [-0.000545, -0.329988, 0.066116, -2.56359, 0.149658, 2.092166, 0.599254], 'input_type': 'joint', 'steps': 9, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.012529, -1.373249, 0.055221, -2.308408, 0.15555, 1.137718, 0.745677], 'input_type': 'joint', 'steps': 38, 'settle_steps': 0, 'gripper': -1.0},
]

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=[-0.030871, -0.247759, 0.181558, -1.909425, -0.170703, 2.216325, 1.23022], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[-0.030871, -0.247759, 0.181558, -1.909425, -0.170703, 2.216325, 1.23022], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_01)
moveWholeBodyPath(body_waypoints=[pose(x=0.684514, y=0.084579, z=1.316129, qw=-0.187483, qx=-0.690638, qy=-0.668461, qz=-0.202557), pose(x=0.189871, y=-0.005535, z=1.416837, qw=-0.147304, qx=-0.665165, qy=-0.710622, qz=-0.175712), pose(x=0.586347, y=0.042952, z=0.973627, qw=0.087232, qx=-0.644568, qy=-0.759504, qz=0.008782)], base_waypoints=[[4.069221, -1.128371, 1.57124], [3.611975, -1.729412, 1.963078], [2.954499, -1.004832, 1.46836]], base_modes=[1.0, 1.0, 1.0], torso_targets=[0.000199, 0.000148, 0.000511], segment_steps=[2, 100, 102], settle_steps=0, gripper=1.0, gripper_cmds=[1.0, 1.0, -1.0], body_motion_priority=1.0, base_xy_priority=1.0, base_yaw_priority=1.0, base_position_gain=5.5, base_yaw_gain=4.8, base_position_ff_gain=24.0, base_yaw_ff_gain=24.0, base_ee_anchor_mix=0.35)
wait(duration=0.05, hold_target=[-0.004654, -0.328102, 0.071335, -2.564055, 0.151177, 2.09281, 0.598897], input_type='joint', gripper=-1.0)
release(hold_target=[-0.004654, -0.328102, 0.071335, -2.564055, 0.151177, 2.09281, 0.598897], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[-0.004654, -0.328102, 0.071335, -2.564055, 0.151177, 2.09281, 0.598897], input_type='joint', gripper=-1.0)
run_joint_sequence(MOTION_SEQUENCE_02)

Pick the potato from the microwave and place it on plate located on the counter.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-to-counter_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/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-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': 'PickPlaceSinkToCounter', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceSinkToCounter/20260324_205331_pick-place-sink-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 85, 'stable_release_contact_loss_t': 202, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.030597, -1.046055, -0.031126, -2.267429, 0.041242, 1.468732, 0.708397], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.034026, -0.291259, 0.02107, -2.828865, 0.150502, 2.613642, 0.451425], 'input_type': 'joint', 'steps': 50, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.040293, 0.544379, 0.089028, -2.284115, 0.357682, 2.884601, 0.219345], 'input_type': 'joint', 'steps': 33, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [-0.041827, 0.568223, 0.09019, -2.247183, 0.339817, 2.865647, 0.229649], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.041336, 0.588665, 0.090262, -2.210466, 0.316663, 2.840916, 0.246946], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.040464, 0.600235, 0.090626, -2.193439, 0.306992, 2.829503, 0.255235], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.052973, -1.011933, 0.199285, -2.823837, 0.332925, 2.111424, 0.4383], 'input_type': 'joint', 'steps': 45, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.445244, 0.489948, 0.703754, -1.703316, -0.607072, 2.192042, 1.41138], 'input_type': 'joint', 'steps': 50, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.499043, 0.526721, 0.646196, -1.645235, -0.61717, 2.171063, 1.403238], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.649573, 0.462756, 0.536959, -1.666574, -0.77481, 2.148727, 1.564565], 'input_type': 'joint', 'steps': 12, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_02 = [
    {'target': [0.650066, 0.404087, 0.554971, -1.732233, -0.807688, 2.156195, 1.627934], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.322238, -0.924503, 0.889014, -2.208033, 0.074855, 1.899267, 1.399129], 'input_type': 'joint', 'steps': 31, 'settle_steps': 0, 'gripper': -1.0},
]

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=[-0.041077, 0.555168, 0.089655, -2.268349, 0.351984, 2.879264, 0.222297], input_type='joint', close_steps=9, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[-0.041077, 0.555168, 0.089655, -2.268349, 0.351984, 2.879264, 0.222297], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.05, hold_target=[0.649573, 0.462756, 0.536959, -1.666574, -0.77481, 2.148727, 1.564565], input_type='joint', gripper=-1.0)
release(hold_target=[0.649573, 0.462756, 0.536959, -1.666574, -0.77481, 2.148727, 1.564565], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[0.649573, 0.462756, 0.536959, -1.666574, -0.77481, 2.148727, 1.564565], input_type='joint', gripper=-1.0)
run_joint_sequence(MOTION_SEQUENCE_02)

Pick the squash from the sink and place it on the plate located on the counter.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-to-counter_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=15; actual_retained_waypoints=15; keep_counts={0: 4, 1: 1, 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/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-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': 'PickPlaceStoveToCounter', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceStoveToCounter/20260324_205332_pick-place-stove-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 60, 'stable_release_contact_loss_t': 156, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'primitive': 'moveJoint', 'target': [-0.040794, -1.004375, -0.05553, -2.28712, 0.022329, 1.525143, 0.699618], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.021658, -0.181988, -0.102717, -2.234436, 0.14025, 2.235725, 0.193152], 'input_type': 'joint', 'steps': 25, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.009332, 0.385762, -0.020705, -1.658338, -0.02638, 1.965923, 0.475212], 'input_type': 'joint', 'steps': 21, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.017516, 0.561659, -0.016537, -1.465627, -0.026195, 1.93696, 0.472614], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.018119, 0.574764, -0.016527, -1.452687, -0.026193, 1.93695, 0.47236], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'primitive': 'moveJoint', 'target': [-0.019989, 0.603658, -0.015987, -1.408166, -0.023976, 1.924503, 0.467663], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.093051, 0.473402, -0.06123, -1.458074, 0.195609, 1.930814, 0.267598], 'input_type': 'joint', 'steps': 21, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.104874, -0.28745, -0.159356, -2.573776, 1.309772, 3.517896, -0.770002], 'input_type': 'joint', 'steps': 34, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.29064, 0.26936, -0.430735, -1.821185, 2.784957, 3.739489, -2.778658], 'input_type': 'joint', 'steps': 32, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.383316, 0.342687, -0.380509, -1.735785, 2.905423, 3.754468, -2.906722], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.554267, 0.418485, -0.160037, -1.632064, 2.878801, 3.752857, -2.867395], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.590889, 0.429461, -0.116841, -1.616217, 2.858747, 3.752855, -2.859501], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_02 = [
    {'primitive': 'moveJoint', 'target': [-0.652659, 0.444012, -0.039554, -1.597369, 2.808693, 3.752857, -2.839735], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.671608, -0.223867, 0.014628, -2.127035, 2.897257, 3.752603, -2.842655], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.067458, -1.720419, -0.329187, -3.011691, 2.04101, 3.752746, -1.975961], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': -1.0},
]

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=[-0.018807, 0.585331, -0.016543, -1.438804, -0.02592, 1.93402, 0.471141], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[-0.018807, 0.585331, -0.016543, -1.438804, -0.02592, 1.93402, 0.471141], input_type='joint', gripper=1.0)
run_single_waypoint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.05, hold_target=[-0.590889, 0.429461, -0.116841, -1.616217, 2.858747, 3.752855, -2.859501], input_type='joint', gripper=-1.0)
release(hold_target=[-0.590889, 0.429461, -0.116841, -1.616217, 2.858747, 3.752855, -2.859501], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[-0.590889, 0.429461, -0.116841, -1.616217, 2.858747, 3.752855, -2.859501], input_type='joint', gripper=-1.0)
run_single_waypoint_sequence(MOTION_SEQUENCE_02)

Pick the mushroom from the pan and place it in the bowl.

all mushroom vegetable food in_container

container

all bowl receptacle stackable group1 container_set2


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-to-counter_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/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-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': 'PickPlaceToasterOvenToCounter', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceToasterOvenToCounter/20260324_205333_pick-place-toaster-oven-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 85, 'stable_release_contact_loss_t': 145, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.010712, -1.040482, -0.026759, -2.272686, 0.01527, 1.514669, 0.707433], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.076522, -1.523396, 0.32817, -2.954443, 0.446159, 2.009571, 1.2785], 'input_type': 'joint', 'steps': 45, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.061363, -1.017226, 0.402925, -2.882269, 0.5127, 2.42876, 1.239298], 'input_type': 'joint', 'steps': 33, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.058439, -1.000291, 0.402106, -2.874999, 0.509338, 2.437537, 1.236088], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.046237, -0.913556, 0.405477, -2.820856, 0.488041, 2.440365, 1.231548], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [0.04655, -0.903129, 0.410967, -2.809069, 0.485625, 2.426506, 1.240088], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.159677, -1.358078, 0.443658, -2.752698, 0.5752, 1.968598, 1.257137], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.089252, -0.974292, 1.00857, -2.581992, 0.807475, 2.206694, 1.131757], 'input_type': 'joint', 'steps': 24, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.084049, -0.954354, 1.028641, -2.58778, 0.812733, 2.231517, 1.1263], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.053385, -0.836254, 1.099805, -2.642763, 0.803946, 2.498179, 0.998945], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_02 = [
    {'target': [0.089446, -0.89013, 1.074001, -2.65058, 0.775862, 2.493761, 1.022985], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.309275, -1.552371, 0.50521, -2.447757, 0.671497, 2.107198, 1.174783], 'input_type': 'joint', 'steps': 27, 'settle_steps': 0, 'gripper': -1.0},
]

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=[0.046237, -0.913556, 0.405477, -2.820856, 0.488041, 2.440365, 1.231548], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[0.046237, -0.913556, 0.405477, -2.820856, 0.488041, 2.440365, 1.231548], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.05, hold_target=[0.053385, -0.836254, 1.099805, -2.642763, 0.803946, 2.498179, 0.998945], input_type='joint', gripper=-1.0)
release(hold_target=[0.053385, -0.836254, 1.099805, -2.642763, 0.803946, 2.498179, 0.998945], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[0.053385, -0.836254, 1.099805, -2.642763, 0.803946, 2.498179, 0.998945], input_type='joint', gripper=-1.0)
run_joint_sequence(MOTION_SEQUENCE_02)

Pick the hotdog bun from the rack and place it on the plate on the counter.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-to-counter_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/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-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': 'PickPlaceToasterToCounter', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-to-counter_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-to-counter_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PickPlaceToasterToCounter/20260324_205334_pick-place-toaster-to-counter_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 109, 'stable_release_contact_loss_t': 271, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'primitive': 'moveJoint', 'target': [-0.047683, -1.052556, 0.009189, -2.296085, 0.029837, 1.549504, 0.700324], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.036271, -0.763785, 0.005556, -2.593785, -0.01358, 2.565767, 0.712631], 'input_type': 'joint', 'steps': 54, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.027116, -0.235697, 0.007814, -2.394475, -0.032881, 2.875029, 0.746231], 'input_type': 'joint', 'steps': 45, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.026072, -0.234055, 0.007521, -2.392194, -0.028672, 2.874076, 0.745698], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.023994, -0.230924, 0.006016, -2.387992, -0.018863, 2.872965, 0.742499], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.019486, -0.220535, -0.001966, -2.37496, 0.008865, 2.871688, 0.723119], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'primitive': 'moveJoint', 'target': [-0.017827, -0.216541, -0.004322, -2.369945, 0.018617, 2.870774, 0.714679], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.030241, -0.721003, -0.000349, -2.535534, -0.009781, 2.809297, 0.707592], 'input_type': 'joint', 'steps': 35, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.033673, -0.726726, 0.840844, -2.343779, -0.116874, 1.897529, 0.535913], 'input_type': 'joint', 'steps': 51, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.141443, -0.615928, 1.020971, -2.560804, -0.375297, 2.457585, 1.100443], 'input_type': 'joint', 'steps': 52, 'settle_steps': 0, 'gripper': 1.0},
    {'primitive': 'moveJoint', 'target': [-0.139838, -0.617516, 1.018872, -2.563011, -0.374691, 2.460623, 1.099283], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.135076, -0.619572, 1.013382, -2.565982, -0.37352, 2.464154, 1.096658], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.091839, -0.669166, 0.950085, -2.510276, -0.317445, 2.369732, 1.000389], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_02 = [
    {'primitive': 'moveJoint', 'target': [-0.078551, -0.683783, 0.923789, -2.486175, -0.296853, 2.333493, 0.954883], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.038518, -0.750061, 0.830977, -2.375418, -0.242393, 2.174796, 0.813619], 'input_type': 'joint', 'steps': 15, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.15686, -1.256423, 0.422883, -2.540775, -0.050289, 1.9698, 0.448508], 'input_type': 'joint', 'steps': 20, 'settle_steps': 0, 'gripper': -1.0},
]

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=[-0.018687, -0.218321, -0.003587, -2.372224, 0.014217, 2.871353, 0.718576], input_type='joint', close_steps=1, settle_steps=0, gripper=1.0, require_contact_count=4)
wait(duration=0.05, hold_target=[-0.018687, -0.218321, -0.003587, -2.372224, 0.014217, 2.871353, 0.718576], input_type='joint', gripper=1.0)
run_single_waypoint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.05, hold_target=[-0.091839, -0.669166, 0.950085, -2.510276, -0.317445, 2.369732, 1.000389], input_type='joint', gripper=-1.0)
release(hold_target=[-0.091839, -0.669166, 0.950085, -2.510276, -0.317445, 2.369732, 1.000389], input_type='joint', open_steps=1, settle_steps=0, gripper=-1.0)
wait(duration=0.05, hold_target=[-0.091839, -0.669166, 0.950085, -2.510276, -0.317445, 2.369732, 1.000389], input_type='joint', gripper=-1.0)
run_single_waypoint_sequence(MOTION_SEQUENCE_02)


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/PreheatOven/20260324_205335_preheat-oven_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=5; actual_retained_waypoints=5; keep_counts={0: 3, 1: 2}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/PreheatOven/20260324_205335_preheat-oven_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'PreheatOven', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/PreheatOven/20260324_205335_preheat-oven_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/PreheatOven/20260324_205335_preheat-oven_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/PreheatOven/20260324_205335_preheat-oven_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 158, 'stable_release_contact_loss_t': 158, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.023089, -1.014794, -0.052474, -2.271407, 0.071344, 1.510767, 0.69621], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.065913, -1.3469, -1.442013, -2.68886, 0.027158, 2.068319, -1.356611], 'input_type': 'joint', 'steps': 57, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.310135, -1.532231, -1.764842, -2.659219, 0.070733, 2.448395, -1.936388], 'input_type': 'joint', 'steps': 56, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.310164, -1.532757, -1.765036, -2.65922, 0.070063, 2.448538, -1.936134], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.190611, -1.736937, -1.879697, -2.826023, 1.009864, 2.771045, -1.489677], 'input_type': 'joint', 'steps': 58, 'settle_steps': 0, 'gripper': 1.0},
]

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)

Preheat the oven by turning the temperature knob.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_counts={0: 3}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'SlideDishwasherRack', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/SlideDishwasherRack/20260324_205336_slide-dishwasher-rack_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 175, 'stable_release_contact_loss_t': 175, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.018353, -1.010615, -0.042065, -2.31815, 0.098307, 1.531062, 0.65862], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.613461, -1.281466, 1.901495, -2.416594, 1.364629, 1.692684, 1.022484], 'input_type': 'joint', 'steps': 124, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-1.256194, -1.763035, 2.02082, -1.584586, 1.790417, 2.095184, 2.714018], 'input_type': 'joint', 'steps': 65, 'settle_steps': 0, 'gripper': -1.0},
]

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/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_counts={0: 3}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'SlideOvenRack', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/SlideOvenRack/20260324_205337_slide-oven-rack_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 232, 'stable_release_contact_loss_t': 232, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [0.015714, -1.034627, -0.021152, -2.276251, 0.036749, 1.494713, 0.676051], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.802533, -1.763055, 2.049884, -1.72258, 1.486764, 2.209914, 2.259863], 'input_type': 'joint', 'steps': 157, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-1.112305, -1.763197, 2.007871, -0.814548, 1.60705, 1.57278, 2.613757], 'input_type': 'joint', 'steps': 89, 'settle_steps': 0, 'gripper': -1.0},
]

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/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=3; actual_retained_waypoints=3; keep_counts={0: 3}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'SlideToasterOvenRack', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/SlideToasterOvenRack/20260324_205338_slide-toaster-oven-rack_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 92, 'stable_release_contact_loss_t': 92, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.018436, -1.062742, -0.038319, -2.258365, 0.009854, 1.517683, 0.70629], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.033301, -1.076919, 0.112318, -3.071864, 0.198975, 2.612533, 0.788614], 'input_type': 'joint', 'steps': 57, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.032334, -1.227559, 0.036522, -2.837022, 0.191153, 1.313266, 0.82102], 'input_type': 'joint', 'steps': 49, 'settle_steps': 0, 'gripper': -1.0},
]

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/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 6}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'StartCoffeeMachine', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/StartCoffeeMachine/20260324_205339_start-coffee-machine_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 67, 'stable_release_contact_loss_t': 67, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.025554, -1.030225, -0.050075, -2.298869, 0.074377, 1.55287, 0.73987], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.026126, -1.321716, -0.054217, -2.627063, 0.095563, 1.953592, 0.687558], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.011951, -1.181841, -0.030944, -2.711784, 0.132209, 2.268015, 0.665131], 'input_type': 'joint', 'steps': 21, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.020571, -0.999995, -0.034956, -2.86544, 0.219134, 2.84046, 0.637911], 'input_type': 'joint', 'steps': 28, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.019621, -1.546044, -0.079511, -2.82479, 0.237374, 2.422404, 0.568771], 'input_type': 'joint', 'steps': 18, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.023677, -1.681392, -0.18255, -2.581362, 0.168661, 1.846307, 0.582217], 'input_type': 'joint', 'steps': 11, 'settle_steps': 0, 'gripper': -1.0},
]

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 on the coffee machine to serve coffee.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=9; actual_retained_waypoints=9; keep_counts={0: 4, 1: 5}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOffMicrowave', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOffMicrowave/20260324_205340_turn-off-microwave_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 123, 'stable_release_contact_loss_t': 123, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [0.007781, -1.047156, -0.014442, -2.246671, 0.084042, 1.524396, 0.704567], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.00421, -1.081716, -0.015545, -2.245052, 0.083663, 1.488907, 0.702924], 'input_type': 'joint', 'steps': 4, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.005709, -1.225626, -0.025669, -2.279986, 0.07223, 1.517033, 0.691197], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.014712, -1.296859, -0.09453, -2.278393, 0.031594, 1.610405, 0.627494], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.016195, -1.307267, -0.109184, -2.275993, 0.02485, 1.62688, 0.613731], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.261643, -1.083404, -0.742523, -2.004651, 0.673526, 2.406039, -0.321992], 'input_type': 'joint', 'steps': 51, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.552399, -0.772424, -1.022154, -1.756643, 1.165011, 2.242676, -0.745798], 'input_type': 'joint', 'steps': 40, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.512301, -0.772118, -1.100546, -1.616864, 1.120025, 1.986753, -0.637317], 'input_type': 'joint', 'steps': 20, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.068201, -1.503839, -0.764001, -2.361636, 1.414101, 1.862768, -1.237513], 'input_type': 'joint', 'steps': 20, 'settle_steps': 0, 'gripper': 1.0},
]

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/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=6; actual_retained_waypoints=6; keep_counts={0: 6}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOffSinkFaucet', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOffSinkFaucet/20260324_205341_turn-off-sink-faucet_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 117, 'stable_release_contact_loss_t': 117, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.000303, -1.03096, -0.016641, -2.324678, 0.053727, 1.519172, 0.668566], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.003455, -1.244567, -0.614279, -2.415849, 0.007237, 1.678674, 0.134234], 'input_type': 'joint', 'steps': 21, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.494575, -0.438462, -1.151916, -2.21163, 0.878722, 1.949897, -1.110495], 'input_type': 'joint', 'steps': 31, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.41947, 0.688958, -0.25339, -1.332347, 1.483916, 1.603458, -1.216156], 'input_type': 'joint', 'steps': 37, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.471918, 0.839218, -0.111209, -1.13585, 1.422777, 1.611886, -1.16335], 'input_type': 'joint', 'steps': 23, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.445159, 0.797149, -0.114303, -1.191897, 1.427113, 1.611639, -1.167398], 'input_type': 'joint', 'steps': 19, 'settle_steps': 0, 'gripper': -1.0},
]

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 donut sweets pastry food in_container


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/TurnOffStove/seed_195/episode_000000/refinement/20260403/TurnOffStove/iter_005/candidate.py
# Compression note: target_retained_waypoints=11; actual_retained_waypoints=11; keep_counts={0: 2, 1: 2, 2: 2, 3: 1, 4: 2, 5: 2}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOffStove/20260324_205342_turn-off-stove_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOffStove', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOffStove/20260324_205342_turn-off-stove_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOffStove/20260324_205342_turn-off-stove_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOffStove/20260324_205342_turn-off-stove_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 284, 'stable_release_contact_loss_t': 284, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.028088, -1.038286, -0.016562, -2.246353, 0.012992, 1.483404, 0.726344], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.132568, -0.841914, -0.209527, -3.066547, -0.193559, 2.226578, 1.016327], 'input_type': 'joint', 'steps': 124, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.132636, -0.838801, -0.209098, -3.063917, -0.192454, 2.225623, 1.020053], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.130055, -0.837761, -0.200968, -3.065048, -0.184482, 2.22818, 1.040017], 'input_type': 'joint', 'steps': 17, 'settle_steps': 0, 'gripper': 1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [-0.130446, -0.837193, -0.200483, -3.065016, -0.184067, 2.228709, 1.047797], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.159883, -0.818772, -0.150068, -3.066533, -0.155196, 2.256458, 1.557023], 'input_type': 'joint', 'steps': 29, 'settle_steps': 2, 'gripper': 1.0},
]
MOTION_SEQUENCE_02 = [
    {'target': [-0.16288, -0.807796, -0.153636, -3.063446, -0.157987, 2.264406, 1.588074], 'input_type': 'joint', 'steps': 2, 'settle_steps': 2, 'gripper': 1.0},
]
MOTION_SEQUENCE_03 = [
    {'target': [-0.164893, -0.83944, -0.141173, -3.072212, -0.150833, 2.238034, 1.649152], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.719778, -0.854189, 0.382117, -3.072299, 0.598639, 2.264979, 2.897621], 'input_type': 'joint', 'steps': 112, 'settle_steps': 1, 'gripper': 1.0},
]
MOTION_SEQUENCE_04 = [
    {'target': [-0.725665, -0.856573, 0.387647, -3.072288, 0.605007, 2.262095, 2.897622], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.773921, -0.883716, 0.441851, -3.072287, 0.65359, 2.231986, 2.89765], 'input_type': 'joint', 'steps': 16, 'settle_steps': 0, 'gripper': 1.0},
]

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=0.15, hold_target=[-0.130055, -0.837761, -0.200968, -3.065048, -0.184482, 2.22818, 1.040017], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_01)
wait(duration=0.12, hold_target=[-0.159883, -0.818772, -0.150068, -3.066533, -0.155196, 2.256458, 1.557023], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_02)
wait(duration=0.1, hold_target=[-0.16288, -0.807796, -0.153636, -3.063446, -0.157987, 2.264406, 1.588074], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_03)
wait(duration=0.1, hold_target=[-0.719778, -0.854189, 0.382117, -3.072299, 0.598639, 2.264979, 2.897621], input_type='joint', gripper=1.0)
run_joint_sequence(MOTION_SEQUENCE_04)
wait(duration=0.2, hold_target=[-0.773921, -0.883716, 0.441851, -3.072287, 0.65359, 2.231986, 2.89765], input_type='joint', gripper=1.0)

Turn off the center burner of the stove.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/TurnOnBlender/seed_195/episode_000000/refinement/20260403/TurnOnBlender/iter_005/candidate.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/TurnOnBlender/20260324_205343_turn-on-blender_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOnBlender', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOnBlender/20260324_205343_turn-on-blender_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOnBlender/20260324_205343_turn-on-blender_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOnBlender/20260324_205343_turn-on-blender_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 55, 'stable_release_contact_loss_t': 55, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.005308, -1.05912, -0.012926, -2.267104, 0.061406, 1.498196, 0.667923], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.055115, -1.270689, 0.162343, -3.034922, 0.200028, 2.06691, 0.712906], 'input_type': 'joint', 'steps': 54, 'settle_steps': 1, 'gripper': -1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [0.055093, -1.268033, 0.165321, -3.034465, 0.19976, 2.070953, 0.726565], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [0.105585, -1.71547, 0.199513, -3.065108, 0.180032, 2.003681, 0.838002], 'input_type': 'joint', 'steps': 39, 'settle_steps': 7, 'gripper': -1.0},
]

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=[0.055115, -1.270689, 0.162343, -3.034922, 0.200028, 2.06691, 0.712906], input_type='joint', gripper=-1.0)
run_joint_sequence(MOTION_SEQUENCE_01)

Turn on the blender by pressing the power button.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/repro_logs/pretrain_dreamonly_repair_65_cosmos/TurnOnElectricKettle/seed_195/episode_000000/refinement/20260403/TurnOnElectricKettle/iter_001/candidate.py
# Compression note: target_retained_waypoints=10; actual_retained_waypoints=10; keep_counts={0: 4, 1: 6}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOnElectricKettle/20260324_205344_turn-on-electric-kettle_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOnElectricKettle', 'episode_id': 'episode_000000', 'scene_artifact_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOnElectricKettle/20260324_205344_turn-on-electric-kettle_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOnElectricKettle/20260324_205344_turn-on-electric-kettle_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '/workspace/action2code/outputs/artifacts/20260324/TurnOnElectricKettle/20260324_205344_turn-on-electric-kettle_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 89, 'stable_release_contact_loss_t': 89, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.019734, -1.036441, -0.037933, -2.289733, 0.053327, 1.501895, 0.715914], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.019777, -1.039842, -0.038106, -2.288964, 0.053154, 1.494928, 0.715918], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.021486, -1.075029, -0.046278, -2.290116, 0.044039, 1.4352, 0.715234], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.024396, -1.105983, -0.066566, -2.296961, 0.024496, 1.406716, 0.704327], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.026114, -1.118966, -0.081356, -2.301712, 0.011373, 1.399652, 0.693924], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.004254, -1.134578, -0.837078, -2.318411, -0.009464, 1.507202, -0.392603], 'input_type': 'joint', 'steps': 24, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.199687, -0.92709, -1.143062, -2.473101, 0.145602, 1.592197, -0.829275], 'input_type': 'joint', 'steps': 23, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.487547, -0.738016, -1.373994, -2.54745, 0.243818, 2.046744, -0.97308], 'input_type': 'joint', 'steps': 29, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.622116, -0.847977, -1.559565, -2.469134, 0.161994, 2.046406, -1.050117], 'input_type': 'joint', 'steps': 17, 'settle_steps': 4, 'gripper': 1.0},
    {'target': [0.352494, -1.082126, -1.418028, -2.541073, 0.050681, 1.975858, -0.9921], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': 1.0},
]

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 down the lever to turn on the electric kettle.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=9; actual_retained_waypoints=9; keep_counts={0: 3, 1: 6}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOnMicrowave', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnMicrowave/20260324_205345_turn-on-microwave_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 81, 'stable_release_contact_loss_t': 81, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.006224, -1.023313, -0.069334, -2.283308, 0.036919, 1.558925, 0.675367], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.009519, -1.023917, -0.086871, -2.307856, 0.024945, 1.567439, 0.664972], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.012069, -1.032502, -0.101126, -2.323002, 0.016364, 1.583045, 0.652695], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.014916, -1.048491, -0.110689, -2.334956, 0.000916, 1.606525, 0.636731], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.100226, -1.658183, -0.378874, -2.732048, -0.542113, 2.090216, 0.382181], 'input_type': 'joint', 'steps': 18, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.029613, -1.48181, -0.996314, -2.667085, -0.056975, 2.411171, -0.764425], 'input_type': 'joint', 'steps': 25, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [0.202474, -1.189719, -1.053224, -2.603898, 0.179133, 2.596628, -1.210961], 'input_type': 'joint', 'steps': 28, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.01657, -1.373537, -1.099864, -2.62454, 0.107519, 2.407635, -1.254307], 'input_type': 'joint', 'steps': 13, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.404859, -1.754748, -1.041852, -2.458439, 0.26262, 1.880193, -1.194893], 'input_type': 'joint', 'steps': 19, 'settle_steps': 0, 'gripper': 1.0},
]

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 start button on the microwave.


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260413/TurnOnSinkFaucet/20260413_t3_k21_c0c0d68bbf4d_TurnOnSinkFaucet_source-compressed.py
# Compression note: tightening_round=3; source_policy=/workspace/action2code/outputs/programs/20260413/TurnOnSinkFaucet/20260413_t3_k21_c0c0d68bbf4d_TurnOnSinkFaucet_source-compressed.py; retained_waypoints=20; fingerprint=262b54f79155; keep_indices={0: [0, 1, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20]}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOnSinkFaucet/20260324_205346_turn-on-sink-faucet_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOnSinkFaucet', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnOnSinkFaucet/20260324_205346_turn-on-sink-faucet_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnOnSinkFaucet/20260324_205346_turn-on-sink-faucet_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnSinkFaucet/20260324_205346_turn-on-sink-faucet_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 124, 'stable_release_contact_loss_t': 124, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'primitive': 'moveJoint', 'target': [-0.010394, -1.037892, -0.03673, -2.285708, 0.053729, 1.548874, 0.707248], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.010536, -1.177327, -0.059084, -2.386805, 0.097252, 1.74994, 0.647908], 'input_type': 'joint', 'steps': 8, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.024539, -1.432291, -0.179618, -2.860563, 0.149619, 2.311489, 0.400093], 'input_type': 'joint', 'steps': 13, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [-0.000037, -1.375764, -0.173404, -2.997758, 0.21976, 2.621173, 0.332677], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.016836, -1.325251, -0.190016, -3.012921, 0.252469, 2.702231, 0.298482], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.198938, -1.00583, -0.298362, -2.942434, 0.445502, 2.993787, 0.0983], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.510897, -0.788587, -0.517607, -2.846142, 0.547271, 3.241694, -0.060227], 'input_type': 'joint', 'steps': 10, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.821001, -0.705936, -0.849385, -2.795312, 0.2631, 3.445487, 0.070661], 'input_type': 'joint', 'steps': 7, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [0.934163, -0.677363, -1.031639, -2.815191, 0.030701, 3.561157, 0.201606], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [1.140358, -0.593713, -1.351638, -2.775895, -0.317463, 3.723571, 0.415466], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [1.380875, -0.61921, -1.580102, -2.665122, -0.365053, 3.752548, 0.414801], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [1.553746, -0.792047, -1.657046, -2.593992, -0.16577, 3.752688, 0.116213], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [1.96015, -1.114507, -1.667375, -2.208601, 0.327295, 3.749435, -0.512787], 'input_type': 'joint', 'steps': 26, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [1.941567, -1.146964, -1.665117, -2.194677, 0.331015, 3.75014, -0.517457], 'input_type': 'joint', 'steps': 9, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [1.914705, -1.165278, -1.658984, -2.198459, 0.313177, 3.712613, -0.499173], 'input_type': 'joint', 'steps': 3, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [1.819294, -1.20508, -1.653917, -2.20865, 0.230087, 3.488072, -0.428691], 'input_type': 'joint', 'steps': 6, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [1.71189, -1.278399, -1.662097, -2.163893, 0.109579, 3.113291, -0.377677], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [1.693929, -1.300949, -1.663211, -2.146824, 0.085, 3.031405, -0.37549], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [1.65921, -1.416182, -1.657936, -2.033636, -0.01788, 2.63586, -0.380034], 'input_type': 'joint', 'steps': 5, 'settle_steps': 0, 'gripper': -1.0},
    {'primitive': 'moveJoint', 'target': [1.681096, -1.541396, -1.631142, -1.877309, -0.173151, 2.418099, -0.313787], 'input_type': 'joint', 'steps': 9, 'settle_steps': 0, 'gripper': -1.0},
]

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)


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint.py
# Compression note: target_retained_waypoints=7; actual_retained_waypoints=7; keep_counts={0: 1, 1: 2, 2: 2, 3: 2}

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

SCENE_ARTIFACT = '/workspace/action2code/outputs/artifacts/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOnStove', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnStove/20260324_205347_turn-on-stove_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 225, 'stable_release_contact_loss_t': 225, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.016587, -1.03245, -0.033487, -2.302095, 0.069495, 1.565082, 0.702389], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
]
MOTION_SEQUENCE_01 = [
    {'target': [-0.383287, -1.762868, 2.001922, -2.251688, 0.12811, 2.661778, 2.74278], 'input_type': 'joint', 'steps': 2, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.350822, -1.758242, 1.974394, -2.268553, 0.245644, 2.604012, 2.613543], 'input_type': 'joint', 'steps': 29, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.347013, -1.755158, 1.965812, -2.273512, 0.247874, 2.600035, 2.603183], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.524408, -1.595945, 1.914664, -2.066544, 0.296295, 2.238834, 1.452037], 'input_type': 'joint', 'steps': 50, 'settle_steps': 0, 'gripper': 1.0},
]

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=0.456683, y=-0.00189, z=1.290182, qw=-0.077625, qx=-0.678675, qy=-0.717932, qz=-0.133967), pose(x=0.457337, y=0.470413, z=0.789684, qw=-0.495663, qx=-0.525722, qy=-0.490791, qz=-0.486887)], base_waypoints=[[1.083884, -1.413561, -3.141593], [1.161814, -1.210844, -3.145773]], base_modes=[1.0, 1.0], torso_targets=[0.0, 0.000009], segment_steps=[4, 155], settle_steps=0, gripper=-1.0, gripper_cmds=[], body_motion_priority=1.0, base_xy_priority=1.0, base_yaw_priority=0.012624, base_position_gain=5.5, base_yaw_gain=3.417674, base_position_ff_gain=24.0, base_yaw_ff_gain=6.227239, base_ee_anchor_mix=0.35)
run_joint_sequence(MOTION_SEQUENCE_01)

Turn on the rear left burner of the stove.

cookware

all kettle_non_electric receptacle kettle cookware


# Honest source-preserving motion compression candidate.
# Source policy: /workspace/action2code/outputs/programs/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_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/TurnOnToaster/20260324_205348_turn-on-toaster_episode_000000_action2code-open-loop-joint_initial-scene.json'
POLICY_METADATA = {'policy_kind': 'open_loop_joint', 'policy_variant': 'open-loop-joint', 'task_name': 'TurnOnToaster', 'episode_id': 'episode_000000', 'scene_artifact_path': '../../../artifacts/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_episode_000000_action2code-open-loop-joint_initial-scene.json', 'fitting_summary_path': '../../../artifacts/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_episode_000000_action2code-open-loop-joint_fitting-summary.json', 'extracted_pose_metadata_path': '../../../artifacts/20260324/TurnOnToaster/20260324_205348_turn-on-toaster_episode_000000_action2code-open-loop-joint_extracted-pose-metadata.json', 'stable_grasp_contact_t': 67, 'stable_release_contact_loss_t': 67, 'uses_moveC': False, 'controller_mode': 'whole_body_ik'}

MOTION_SEQUENCE_00 = [
    {'target': [-0.016331, -1.025097, -0.021432, -2.290728, 0.043016, 1.505365, 0.691966], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.03281, -1.050083, -0.180173, -2.402744, -0.0574, 1.580714, 0.556161], 'input_type': 'joint', 'steps': 14, 'settle_steps': 0, 'gripper': -1.0},
    {'target': [-0.034353, -1.050145, -0.193185, -2.414374, -0.065619, 1.593589, 0.547264], 'input_type': 'joint', 'steps': 1, 'settle_steps': 0, 'gripper': 1.0},
    {'target': [-0.020094, -0.60318, -0.421768, -2.644608, 0.106026, 2.261053, 0.308079], 'input_type': 'joint', 'steps': 66, 'settle_steps': 0, 'gripper': 1.0},
]

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)

Push down the lever of the toaster to turn it on.