=== Instruction 1 ===
Is Correct: False
Syntax Pass: False
Code Function: This code defines a sequence of actions for a robot to perform a specific task involving a drawer and a dice object. The robot first moves to the handle of a drawer, grasps the handle, and pulls the drawer open. Next, it moves to the location of a dice, picks up the dice, and carries it to a designated place inside the opened drawer, where it places the dice. Finally, the robot optionally returns to its ready position. The process is executed step by step, and any errors during execution are caught and reported.
Similarity: {'ok': True, 'reason': 'The described code functionally achieves the task by opening the drawer, picking up a dice, placing it inside the drawer, and optionally returning to ready pose, which matches the instruction.'}
Differences: 1. **Explicitness of Drawer State Manipulation**:  
   - **TASK**: The instruction "Place one dice into a drawer" does not specify that the robot must open the drawer if it is closed, nor does it mention interacting with the handle or the state of the drawer (locked/unlocked, open/closed).
   - **CODE_FUNC**: Explicitly includes the steps to move to the handle, grasp it, and pull the drawer open before placing the dice inside, assuming the drawer may be closed.

2. **Assumption of Drawer Accessibility**:  
   - **TASK**: Assumes the drawer is already accessible/open or does not specify its state.
   - **CODE_FUNC**: Assumes the drawer may be closed and locked, and includes steps to make it accessible (open).

3. **Error Handling**:  
   - **TASK**: No mention of error handling or what to do if an action fails.
   - **CODE_FUNC**: Explicitly mentions that errors during execution are caught and reported.

4. **Return to Ready Position**:  
   - **TASK**: No mention of returning to a ready or initial position after placing the dice.
   - **CODE_FUNC**: Optionally includes a step for the robot to return to its ready position after completing the main task.

5. **Step-by-Step Decomposition**:  
   - **TASK**: High-level, single-step instruction.
   - **CODE_FUNC**: Decomposes the task into a detailed sequence of actions (move to handle, grasp, pull, move to dice, pick, move to drawer, place, return).

6. **Object and Drawer Selection**:  
   - **TASK**: Non-specific about which dice or which drawer if multiple are present.
   - **CODE_FUNC**: Implies selection of a specific dice and a specific drawer (the one with the handle being manipulated).

7. **Implicit Preconditions**:  
   - **TASK**: Does not specify preconditions such as the robot's hand being empty, the robot being at a certain location, or the drawer not being full.
   - **CODE_FUNC**: Implies these preconditions are checked and satisfied as part of the action sequence.

8. **Handle Manipulation**:  
   - **TASK**: Does not mention the need to interact with a handle.
   - **CODE_FUNC**: Explicitly includes handle manipulation as part of opening the drawer.

9. **Optionality of Final Step**:  
   - **TASK**: No optional steps.
   - **CODE_FUNC**: The return to ready position is described as optional.

10. **Reporting/Feedback**:  
    - **TASK**: No mention of reporting or feedback.
    - **CODE_FUNC**: Mentions reporting errors if they occur.

**Summary**:  
The main semantic differences are that CODE_FUNC is much more explicit, detailed, and robust, handling drawer state, error conditions, and optional post-task actions, whereas TASK is a high-level, underspecified instruction.

Refined Code Generated:
-------------------
from Object_list import Object
from skill_mapping import RobotController

def long_horizon_task2_oracle_seq():
    """
    Place one dice into a drawer.
    """
    robot = RobotController()

    # Move to dice1 location
    robot.execute_movement(Object["dice1"], mode=7)

    # Pick dice1 (approach along z-axis)
    robot.execute_movement(Object["dice1"], mode=1, axis=2)

    # Move to drawer_bottom_place_left location
    robot.execute_movement(Object["drawer_bottom_place_left"], mode=7)

    # Place dice1 into drawer_bottom (approach along z-axis)
    robot.execute_movement(Object["drawer_bottom_place_left"], mode=2, axis=2)

def main():
    """
    Main function to execute the task.
    """
    long_horizon_task2_oracle_seq()

if __name__ == "__main__":
    main()
-------------------

=== Instruction 2 ===
Is Correct: False
Syntax Pass: False
Code Function: This code defines a sequence of actions for a robot to perform a long-horizon task involving a drawer and a dice object. The robot starts from a ready position, moves to the drawer handle, picks the handle, pulls the drawer open, moves to a dice, picks up the dice, moves to a location inside the open drawer, places the dice inside, returns to the drawer handle, pushes the drawer closed, and finally returns to the ready position. Each step is executed with error handling to print messages if any action fails. The main function runs this sequence when the script is executed.
Similarity: {'ok': True, 'reason': 'The described code functionally achieves the task by opening the drawer, picking a dice, placing it inside, closing the drawer, and returning to ready pose, matching the domain and initial state.'}
Differences: 1. **Explicit Drawer Closing**:  
   - *CODE_FUNC* includes a step where the robot pushes the drawer closed after placing the dice inside, then returns to the ready position.
   - *TASK* ("Put a single dice into the drawer") does not explicitly require the drawer to be closed after placing the dice; it only specifies that the dice should be put into the drawer.

2. **Return to Ready Position**:  
   - *CODE_FUNC* ends with the robot returning to the ready position.
   - *TASK* does not specify that the robot must return to the ready position after completing the main action.

3. **Error Handling**:  
   - *CODE_FUNC* includes error handling (printing messages if actions fail).
   - *TASK* does not mention or require error handling.

4. **Single Dice Selection**:  
   - *TASK* says "a single dice" but does not specify which dice if multiple are present.
   - *CODE_FUNC* (as described) selects a dice (the mechanism for selection is not specified in the summary, but the code must choose one).

5. **Drawer Selection**:  
   - *TASK* does not specify which drawer to use if multiple are present.
   - *CODE_FUNC* (as described) selects a specific drawer (the mechanism for selection is not specified in the summary, but the code must choose one).

6. **Assumed Preconditions**:  
   - *CODE_FUNC* assumes the drawer is unlocked and can be opened, and that the handle is accessible.
   - *TASK* does not specify the state of the drawer or handle.

7. **Long-Horizon Task Framing**:  
   - *CODE_FUNC* frames the task as a "long-horizon" sequence, including all necessary sub-steps (moving, picking, pulling, etc.).
   - *TASK* only specifies the high-level goal, not the sub-steps.

8. **Handling of Multiple Objects/Drawers**:  
   - *TASK* is ambiguous if there are multiple dice or drawers.
   - *CODE_FUNC* (as described) must resolve this ambiguity by choosing specific objects.

9. **No Mention of Need-Ready Flag**:  
   - *CODE_FUNC* does not mention handling the "need-ready" flag from the PDDL domain, though it may be implicit in the action sequence.
   - *TASK* does not mention this either, but it is a relevant semantic in the domain.

10. **No Explicit Location Specification**:  
    - *TASK* does not specify where in the drawer the dice should be placed.
    - *CODE_FUNC* (as described) moves to "a location inside the open drawer" to place the dice.

**Summary:**  
The main semantic differences are that CODE_FUNC includes explicit drawer closing, returning to ready position, error handling, and resolves ambiguities about which dice/drawer to use, while TASK is more abstract and underspecified.

Refined Code Generated:
-------------------
"""Module to put a single dice into a drawer using robot primitive skills."""
from Object_list import Object
from skill_mapping import RobotController

def long_horizon_task2_oracle_seq():
    """Sequence to put a single dice into a drawer."""
    robot = RobotController()

    # Step 1: Move from ready-pose to handle_bottom_location
    robot.execute_movement(Object["drawer_bottom_handle"], mode=7)

    # Step 2: Pick handle_bottom (approach along x-axis)
    robot.execute_movement(Object["drawer_bottom_handle"], mode=1, axis=0)

    # Step 3: Pull drawer_bottom using handle_bottom
    robot.execute_movement(Object["drawer_bottom_handle"], mode=4, distance=0.1)

    # Step 4: Move from handle_bottom_location to dice1_location
    robot.execute_movement(Object["dice1"], mode=7)

    # Step 5: Pick dice1 (approach along z-axis)
    robot.execute_movement(Object["dice1"], mode=1, axis=2)

    # Step 6: Move from dice1_location to drawer_bottom_place_location
    robot.execute_movement(Object["drawer_bottom_place_left"], mode=7)

    # Step 7: Place dice1 into drawer_bottom (approach along z-axis)
    robot.execute_movement(Object["drawer_bottom_place_left"], mode=2, axis=2)

def main():
    """Main entry point to execute the dice-in-drawer task."""
    long_horizon_task2_oracle_seq()

if __name__ == "__main__":
    main()
-------------------

=== Instruction 3 ===
Is Correct: False
Syntax Pass: False
Code Function: This code defines a sequence of actions for a robot to perform a specific task involving a dice and a drawer. The robot first picks up a dice from the floor, then picks up the handle of a drawer. It pulls the drawer open, places the dice inside the drawer, and finally pushes the drawer closed. If any error occurs during these steps, it is caught and printed. The sequence is executed when the script is run directly.
Similarity: {'ok': False, 'reason': 'The robot cannot pick up both the dice and the handle at the same time due to the hand-empty and robot-free preconditions, so the described sequence is not feasible in this domain.'}
Differences: 1. **Handle Pickup**:  
   - *CODE_FUNC* includes an explicit step where the robot picks up the handle of the drawer before pulling it open.  
   - *TASK* does not specify picking up the handle; it only instructs to insert the die into the drawer.

2. **Drawer Manipulation**:  
   - *CODE_FUNC* explicitly includes opening (pulling) and closing (pushing) the drawer as part of the sequence.  
   - *TASK* does not mention opening or closing the drawer; it only specifies inserting the die.

3. **Error Handling**:  
   - *CODE_FUNC* includes error handling (catching and printing errors if any step fails).  
   - *TASK* does not mention error handling.

4. **Sequence Explicitness**:  
   - *CODE_FUNC* provides a detailed, step-by-step sequence of actions required to accomplish the task, including all necessary sub-steps.  
   - *TASK* is a high-level instruction and does not specify the sub-steps.

5. **Assumption of Drawer State**:  
   - *CODE_FUNC* assumes the drawer is closed and must be opened before inserting the die, and closed afterward.  
   - *TASK* does not specify the initial or final state of the drawer.

6. **Handle Use**:  
   - *CODE_FUNC* requires the robot to interact with the handle to open the drawer.  
   - *TASK* does not mention the handle.

7. **Final State**:  
   - *CODE_FUNC* ensures the drawer is closed at the end.  
   - *TASK* does not specify the desired final state of the drawer.

8. **Object Placement**:  
   - Both *CODE_FUNC* and *TASK* involve placing the die into the drawer, but *CODE_FUNC* details the necessary preconditions (drawer open, etc.).

9. **Multiple Objects**:  
   - *TASK* refers to "one die" (implying a single object).  
   - *CODE_FUNC* (as described) also refers to a single die, so no difference here.

10. **Location Management**:  
    - *CODE_FUNC* may include moving the robot to the correct location (not explicitly stated in the summary, but likely in the code).  
    - *TASK* does not mention robot movement.

**Summary:**  
The main semantic differences are that CODE_FUNC is more explicit, includes necessary sub-steps (handle pickup, drawer manipulation), error handling, and final state management, while TASK is a high-level instruction that omits these details.

Refined Code Generated:
-------------------
"""Module to insert one die into a drawer using the robot controller."""
from Object_list import Object
from skill_mapping import RobotController

def insert_die_into_drawer():
    """Insert one die into the drawer."""
    robot = RobotController()
    # Move to the die location if not already there
    robot.execute_movement(Object["dice1"], mode=1, axis=2)
    # Place the die into the open drawer (assumes drawer is already open)
    robot.execute_movement(Object["drawer_bottom_place_left"], mode=2, axis=2)

def main():
    """Main function to execute the insert die task."""
    insert_die_into_drawer()

if __name__ == "__main__":
    main()
-------------------

=== Instruction 4 ===
Is Correct: False
Syntax Pass: False
Code Function: This code defines a sequence of actions for a robot to perform a specific task involving a dice and a drawer. The robot first picks up a dice from the floor, then picks the handle of a drawer, and pulls the drawer open. It then picks up the dice again if needed, places the dice inside the opened drawer, and finally pushes the drawer closed. Each action specifies the object to interact with, the type of movement, and the direction or axis of approach. The sequence is executed in order, and any errors during execution are caught and printed. The process starts automatically when the script is run.
Similarity: {'ok': False, 'reason': 'The code description does not mention unlocking the drawer or ensuring the correct handle and drawer are used, and does not specify the required preconditions and state transitions from the PDDL domain, so it may not reliably achieve storing a dice inside the drawer.'}
Differences: 1. **Explicitness of Action Sequence**:  
   - TASK only specifies the high-level goal ("Store a dice inside the drawer"), leaving the sequence of actions and their order implicit and to be inferred.
   - CODE_FUNC explicitly lists the sequence of low-level actions (pick dice, pick handle, pull drawer, pick dice again if needed, place dice, push drawer), detailing the operational steps required.

2. **Error Handling**:  
   - TASK does not mention error handling or what to do if an action fails.
   - CODE_FUNC explicitly states that errors during execution are caught and printed.

3. **Initiation/Automation**:  
   - TASK is an instruction that requires an agent to interpret and execute.
   - CODE_FUNC specifies that the process starts automatically when the script is run.

4. **Re-picking the Dice**:  
   - TASK does not specify whether the dice needs to be picked up again after opening the drawer.
   - CODE_FUNC includes a conditional step to pick up the dice again "if needed" after opening the drawer.

5. **Parameterization and Specificity**:  
   - TASK refers generically to "a dice" and "the drawer" without specifying which dice or which drawer.
   - CODE_FUNC assumes a specific dice and drawer are being manipulated, as per the code context.

6. **Level of Abstraction**:  
   - TASK is at a high, goal-oriented abstraction level.
   - CODE_FUNC is at a low, operational level, specifying each primitive action.

7. **Action Details**:  
   - TASK does not specify the need to interact with the handle or the requirement to unlock/open/close the drawer.
   - CODE_FUNC details the need to pick the handle, pull to open, and push to close the drawer.

8. **Movement and Location**:  
   - TASK does not mention robot movement or location.
   - CODE_FUNC specifies movement types, directions, and axes of approach for each action.

9. **Handling of Preconditions and Effects**:  
   - TASK does not mention preconditions or effects of actions.
   - CODE_FUNC implicitly handles preconditions (e.g., only picking up objects that are on the floor, only placing dice when the drawer is open).

10. **Implicit vs. Explicit Object State Management**:  
    - TASK assumes the agent will manage object states (e.g., whether the drawer is open or closed).
    - CODE_FUNC explicitly manages these states through actions (open/close drawer, check if dice needs to be picked up again).

11. **Error Recovery**:  
    - TASK does not address what to do if an action cannot be completed.
    - CODE_FUNC includes error catching, which could allow for recovery or reporting.

12. **Execution Context**:  
    - TASK is context-agnostic and could be interpreted in various environments.
    - CODE_FUNC is context-specific, assuming a robot, a script, and a particular environment setup.

13. **Temporal Ordering**:  
    - TASK does not specify the order of actions.
    - CODE_FUNC enforces a strict order of operations.

14. **Assumption of Initial State**:  
    - TASK does not specify the initial state of the dice, drawer, or robot.
    - CODE_FUNC assumes the dice is on the floor, the drawer is closed, and the robot is ready to act.

15. **Completion Criteria**:  
    - TASK does not specify what constitutes completion.
    - CODE_FUNC implicitly defines completion as the end of the action sequence (dice in drawer, drawer closed).

16. **Handling Multiple Objects**:  
    - TASK could be interpreted as applying to any dice and any drawer.
    - CODE_FUNC operates on a specific dice and drawer.

17. **Use of Conditional Logic**:  
    - TASK does not mention any conditional logic.
    - CODE_FUNC includes conditional logic (e.g., pick up the dice again "if needed").

18. **Feedback and Reporting**:  
    - TASK does not specify any feedback or reporting mechanism.
    - CODE_FUNC prints errors if they occur.

19. **Concurrency**:  
    - TASK does not specify whether actions can be performed concurrently.
    - CODE_FUNC assumes sequential execution.

20. **Agent Autonomy**:  
    - TASK leaves the method of execution to the agent's discretion.
    - CODE_FUNC prescribes exactly how the agent must act.

**Summary:**  
The semantic differences are primarily in abstraction level, explicitness, error handling, specificity, and operational detail. The TASK is a high-level goal, while CODE_FUNC is a detailed, step-by-step operationalization of that goal.

Refined Code Generated:
-------------------
"""Module to store a dice inside the drawer using robot primitive skills."""
from Object_list import Object
from skill_mapping import RobotController

def long_horizon_task2_oracle_seq():
    """Sequence to store dice1 inside drawer_bottom."""
    robot = RobotController()

    try:
        # Move to floor and pick up dice1
        robot.execute_movement(Object["dice1"], mode=1, axis=2)
        # Move to floor and pick up handle_bottom
        robot.execute_movement(Object["handle_bottom"], mode=1, axis=2)
        # Move to drawer-area and pull open drawer_bottom using handle_bottom
        robot.execute_movement(Object["handle_bottom"], mode=4, axis=0, distance=0.1)
        # Move to floor and pick up dice1 again (if not holding)
        if not robot.is_holding("dice1"):
            robot.execute_movement(Object["dice1"], mode=1, axis=2)
        # Move to drawer-area and place dice1 into drawer_bottom
        robot.execute_movement(Object["drawer_bottom"], mode=2, axis=2)
        # Push drawer_bottom to close it
        robot.execute_movement(Object["drawer_bottom"], mode=3, axis=0, distance=0.1)
    except Exception as error:
        print(f"Error during task execution: {error}")

def main():
    """Main entry point to execute the dice storing task."""
    long_horizon_task2_oracle_seq()

if __name__ == "__main__":
    main()
-------------------

=== Instruction 5 ===
Is Correct: False
Syntax Pass: False
Code Function: This code defines a sequence of actions for a robot to perform a specific task. The robot first picks up a dice from the floor, then picks up the bottom handle of a drawer. Next, it pulls the drawer open using the handle, and finally places the dice into the opened drawer. If any error occurs during these steps, it is caught and printed. The sequence is executed when the script is run directly.
Similarity: {'ok': True, 'reason': 'The described code sequence matches the available actions and initial state, enabling the robot to pick a dice, open an unlocked drawer, and place the dice inside, thus achieving the task.'}
Differences: 1. **Object Selection**  
   - TASK: "Drop one dice into any open drawer." The instruction allows the robot to choose *any* dice and *any* open drawer.
   - CODE_FUNC: The robot specifically picks up a dice (unspecified which, but likely dice1 or dice2) and specifically picks up the *bottom* handle to open the *bottom* drawer. The dice is placed into the *bottom* drawer only.

2. **Drawer State**  
   - TASK: The instruction presumes the existence of an open drawer, or at least requires the robot to find or make a drawer open.
   - CODE_FUNC: The robot explicitly opens the *bottom* drawer by picking up the bottom handle and pulling it open.

3. **Handle Manipulation**  
   - TASK: The instruction does not mention the need to manipulate handles or open drawers; it is agnostic to the mechanism.
   - CODE_FUNC: The robot must pick up the handle and use it to open the drawer before placing the dice inside.

4. **Drawer Choice**  
   - TASK: The robot may use *any* open drawer.
   - CODE_FUNC: The robot always uses the *bottom* drawer (drawer_bottom).

5. **Dice Choice**  
   - TASK: The robot may use *any* dice.
   - CODE_FUNC: The robot picks up a dice, but the code may be hardcoded to a specific dice (not fully specified in the summary).

6. **Error Handling**  
   - TASK: No mention of error handling.
   - CODE_FUNC: The code includes error catching and printing.

7. **Precondition Satisfaction**  
   - TASK: Assumes the robot can perform the action if a drawer is open.
   - CODE_FUNC: The robot ensures the drawer is open by performing the necessary actions (pick handle, pull drawer).

8. **Generalization**  
   - TASK: The instruction is general and allows for any open drawer and any dice.
   - CODE_FUNC: The code is specific to the bottom drawer and its handle.

9. **Implicit vs. Explicit Steps**  
   - TASK: The steps to open the drawer are implicit or assumed.
   - CODE_FUNC: The steps to open the drawer are explicit and necessary.

10. **Domain Constraints**  
    - TASK: Does not specify or consider domain constraints (e.g., locked drawers).
    - CODE_FUNC: The code sequence is written for the bottom drawer, which is unlocked in the initial state.

**Summary:**  
The main semantic differences are in generality (TASK is general, CODE_FUNC is specific), explicitness of drawer opening, and error handling. The code always uses the bottom drawer and its handle, while the instruction allows any open drawer. The code also includes explicit steps for opening the drawer, which the instruction leaves implicit.

Refined Code Generated:
-------------------
"""Module to drop any dice into any open drawer using the robot controller."""
from Object_list import Object
from skill_mapping import RobotController

def long_horizon_task2_oracle_seq():
    """Drops any dice into any open drawer."""
    robot = RobotController()

    # Select any dice
    dice_candidates = ["dice1", "dice2"]
    dice_to_use = None
    for dice in dice_candidates:
        if Object.get(dice) is not None:
            dice_to_use = dice
            break
    if dice_to_use is None:
        print("No dice available.")
        return

    # Find any open drawer place location
    open_drawer_places = [
        ("drawer_bottom", "drawer_bottom_place_left"),
        ("drawer_bottom", "drawer_bottom_place_right"),
        ("drawer_middle", "drawer_middle_place_left"),
        ("drawer_middle", "drawer_middle_place_right"),
        ("drawer_top", "drawer_top_place_left"),
        ("drawer_top", "drawer_top_place_right"),
    ]
    drawer_to_use = None
    place_location = None
    for drawer, place in open_drawer_places:
        if Object.get(place) is not None and Object.get(drawer) is not None:
            # Assume the drawer is open if its place location exists
            drawer_to_use = drawer
            place_location = place
            break
    if drawer_to_use is None or place_location is None:
        print("No open drawer available.")
        return

    # Pick up the dice
    robot.execute_movement(Object[dice_to_use], mode=1, axis=2)
    # Place the dice into the open drawer
    robot.execute_movement(Object[place_location], mode=2, axis=2)

def main():
    """Main entry point."""
    long_horizon_task2_oracle_seq()

if __name__ == "__main__":
    main()
-------------------

