=== Instruction 1 ===
Is Correct: False
Syntax Pass: False
Code Function: This code controls a robot to perform a sequence of actions involving a drawer and a dice. First, the robot picks the handle of the bottom drawer and pulls the drawer open. Next, it picks up a dice and places it inside the open drawer. Finally, the robot pushes the drawer closed. Each step is executed in order, and errors during any step are caught and printed.
Similarity: {'ok': True, 'reason': 'The described code sequence matches the required actions to place a dice into an initially closed, unlocked, and empty drawer according to the PDDL domain and problem.'}
Differences: 1. **Drawer Closing**:  
   - *CODE_FUNC* includes the step of pushing (closing) the drawer after placing the dice inside.
   - *TASK* (as stated: "Place one dice into a drawer") does not specify that the drawer should be closed after placing the dice.

2. **Error Handling**:  
   - *CODE_FUNC* mentions catching and printing errors during any step.
   - *TASK* does not mention error handling or robustness to failure.

3. **Drawer Selection**:  
   - *CODE_FUNC* specifically operates on the "bottom drawer".
   - *TASK* generically says "a drawer" (though the observation only allows the bottom drawer to be used, the instruction itself is not specific).

4. **Handle Selection**:  
   - *CODE_FUNC* picks the handle of the bottom drawer.
   - *TASK* does not mention handles or how to open the drawer.

5. **Dice Selection**:  
   - *CODE_FUNC* picks "a dice" (presumably one of the available dice).
   - *TASK* says "one dice", which is equivalent, so no difference here.

6. **Action Ordering**:  
   - *CODE_FUNC* explicitly orders: open drawer → pick dice → place dice → close drawer.
   - *TASK* only requires the end state (dice in drawer), not the specific order or intermediate states.

7. **Explicitness of Steps**:  
   - *CODE_FUNC* details all necessary sub-actions (open, pick, place, close).
   - *TASK* is high-level and does not specify sub-actions.

8. **Post-condition**:  
   - *CODE_FUNC* leaves the drawer closed at the end.
   - *TASK* does not specify the final state of the drawer (open or closed).

9. **Error Reporting**:  
   - *CODE_FUNC* prints errors if any step fails.
   - *TASK* does not mention error reporting.

10. **Assumed Initial State**:  
    - *CODE_FUNC* assumes the drawer is closed and unlocked, and the robot is at the ready-pose.
    - *TASK* does not specify the initial state.

**Summary:**  
The main semantic differences are that CODE_FUNC is more specific, includes closing the drawer and error handling, and operates on a specific drawer and handle, while TASK is more general and only requires the dice to end up in a drawer.

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()

    # Step 1: Pick the handle of the bottom drawer (approach along x-axis)
    robot.execute_movement(Object["drawer_bottom_handle"], mode=1, axis=0)

    # Step 2: Pull the bottom drawer open (approach along x-axis, longer distance)
    robot.execute_movement(Object["drawer_bottom_handle"], mode=4, axis=0, distance=0.1)

    # Step 3: Pick up dice1 (approach along z-axis)
    robot.execute_movement(Object["dice1"], mode=1, axis=2)

    # Step 4: Place dice1 into the bottom drawer (approach along z-axis)
    robot.execute_movement(Object["drawer_bottom_place_left"], mode=2, axis=2)

def main():
    """
    Main entry point for placing one dice into a drawer.
    """
    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 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 uses the handle to pull the drawer open, places the dice inside the drawer, and finally pushes the drawer closed. Each action is executed by calling movement commands on the robot, specifying the object to interact with, the type of movement, the approach direction, and any necessary parameters. If any error occurs during the sequence, it is caught and printed.
Similarity: {'ok': False, 'reason': 'The code attempts to pick up both the dice and the handle simultaneously, but the domain only allows the robot to hold one object at a time, so the sequence would fail before placing the dice in the drawer.'}
Differences: 1. TASK does not specify that the robot must pick up the handle or interact with the handle; it only requires putting a dice into the drawer. CODE_FUNC explicitly includes picking up the handle and using it to open the drawer.
2. TASK does not require the robot to close the drawer after placing the dice inside; CODE_FUNC includes pushing the drawer closed as a final step.
3. TASK is agnostic to the method of opening the drawer (e.g., handle use, force, or if the drawer is already open), while CODE_FUNC assumes the drawer is closed and must be opened via the handle.
4. TASK does not specify error handling or what to do in case of failure; CODE_FUNC includes error catching and printing.
5. TASK does not specify which dice or which drawer to use if there are multiple; CODE_FUNC assumes a specific dice and drawer are selected.
6. TASK does not specify the robot's initial or final pose; CODE_FUNC may implicitly assume starting at a certain location and does not mention returning to ready-pose.
7. TASK does not specify the sequence of actions or the granularity of steps; CODE_FUNC defines a fixed sequence: pick dice, pick handle, open drawer, place dice, close drawer.
8. TASK does not mention the state of the drawer (open/closed, locked/unlocked, empty/full) before or after; CODE_FUNC assumes the drawer is closed and unlocked at the start, and closes it at the end.
9. TASK does not mention the use of specific robot movement commands or parameters; CODE_FUNC specifies these details for each action.

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

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

    # Move to the location of dice1 and pick it up (approach along z-axis: axis=2)
    robot.execute_movement(Object["dice1"], mode=1, axis=2)
    robot.execute_movement(mode=8)  # Go to ready pose after pick

    # Move to the drawer area and place dice1 into drawer_bottom (approach along z-axis: axis=2)
    robot.execute_movement(Object["drawer_bottom_place_left"], mode=2, axis=2)
    robot.execute_movement(mode=8)  # Go to ready pose after place

def main():
    """Main function to execute the task sequence."""
    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 drawer and a dice. The robot first grasps the handle of the bottom drawer and pulls it open. Next, it picks up a dice and places it inside the opened drawer. Finally, the robot pushes the drawer closed. The process is executed step by step, and any errors during execution are caught and printed.
Similarity: {'ok': True, 'reason': 'The described code sequence matches the necessary actions to insert a die into an initially closed, unlocked, and empty drawer by opening it, picking the die, placing it inside, and closing the drawer.'}
Differences: 1. **Explicit Drawer Closing**: CODE_FUNC includes the step of pushing the drawer closed after inserting the die, whereas TASK only specifies inserting the die (i.e., placing it in the drawer), not closing the drawer afterward.

2. **Handle Manipulation**: CODE_FUNC explicitly describes grasping the handle and pulling the drawer open as part of the sequence. TASK only instructs to insert the die, leaving the method of opening the drawer implicit.

3. **Error Handling**: CODE_FUNC mentions catching and printing errors during execution. TASK does not mention error handling.

4. **Drawer Selection**: CODE_FUNC specifies the "bottom drawer" and its handle. TASK does not specify which drawer or handle to use.

5. **Step-by-Step Execution**: CODE_FUNC describes the process as a step-by-step sequence, while TASK is a single high-level instruction.

6. **Assumed Initial State**: CODE_FUNC assumes the drawer is closed and must be opened. TASK does not specify the initial state of the drawer.

7. **Object Specification**: CODE_FUNC refers to "a dice" (implying any die), while TASK says "one die" (also generic, but the code may imply a specific object).

8. **Robot Pose**: CODE_FUNC does not mention the robot's initial pose or location, while TASK is silent on this as well, but the domain/observation includes a ready-pose.

9. **Generalization**: TASK is a general instruction, while CODE_FUNC is a concrete implementation for a specific drawer and die.

10. **Completion Criteria**: CODE_FUNC ends with the drawer closed; TASK's completion is satisfied once the die is in the drawer, regardless of the drawer's state afterward.

Refined Code Generated:
-------------------
"""Module for inserting one die into a drawer using RobotController."""
from Object_list import Object
from skill_mapping import RobotController

def long_horizon_task2_oracle_seq():
    """Insert one die into a drawer."""
    robot = RobotController()

    # Step 1: Pick the handle of the bottom drawer (approach along x-axis)
    robot.execute_movement(Object["drawer_bottom_handle"], mode=1, axis=0)
    # Step 2: Pull the bottom drawer open (approach along x-axis, longer distance)
    robot.execute_movement(Object["drawer_bottom_handle"], mode=4, axis=0, distance=0.1)
    # Step 3: Pick up dice1 (approach along z-axis)
    robot.execute_movement(Object["dice1"], mode=1, axis=2)
    # Step 4: Place dice1 into the bottom drawer (approach along z-axis)
    robot.execute_movement(Object["drawer_bottom_place_left"], mode=2, axis=2)

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

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

=== Instruction 4 ===
Is Correct: False
Syntax Pass: False
Code Function: This code controls a robot to perform a sequence of actions involving a drawer and a dice. The robot first grasps the handle of the bottom drawer and pulls it open. Next, it picks up a dice and places it inside the opened drawer. Finally, the robot pushes the drawer closed. If any error occurs during these steps, it prints an error message.
Similarity: {'ok': True, 'reason': 'The described code sequence correctly opens the bottom drawer, picks up a dice, places it inside, and closes the drawer, which achieves the task of storing a dice inside the drawer.'}
Differences: 1. **Explicit Drawer Closure**:  
   - **CODE_FUNC** explicitly includes the step of pushing the drawer closed after placing the dice inside.
   - **TASK** ("Store a dice inside the drawer") does not specify whether the drawer should be closed after storing the dice; it only requires the dice to be inside.

2. **Error Handling**:  
   - **CODE_FUNC** mentions printing an error message if any error occurs during the steps.
   - **TASK** does not mention error handling or reporting.

3. **Drawer Selection**:  
   - **CODE_FUNC** specifies the "bottom drawer" (by grasping the handle of the bottom drawer).
   - **TASK** generically says "the drawer" without specifying which one, though the observation context may imply the bottom drawer.

4. **Handle Use**:  
   - **CODE_FUNC** explicitly describes grasping the handle to open the drawer.
   - **TASK** does not specify how the drawer is to be opened.

5. **Sequence Explicitness**:  
   - **CODE_FUNC** details the exact sequence: open drawer, pick dice, place dice, close drawer.
   - **TASK** only specifies the end goal (dice inside drawer), not the steps.

6. **Number of Dice**:  
   - **CODE_FUNC** refers to "a dice" (singular, but grammatically should be "a die"), matching the TASK, but the observation contains two dice. The code does not clarify which dice is used, but the TASK is similarly ambiguous.

7. **Drawer State After Task**:  
   - **CODE_FUNC** leaves the drawer closed at the end.
   - **TASK** does not specify the required final state of the drawer (open or closed).

8. **Error Recovery**:  
   - **CODE_FUNC** only prints an error message; it does not attempt to recover or retry.
   - **TASK** does not mention error recovery or reporting.

9. **Assumed Preconditions**:  
   - **CODE_FUNC** assumes the drawer is closed and unlocked at the start.
   - **TASK** does not specify the initial state of the drawer.

10. **Robot Location**:  
    - **CODE_FUNC** does not specify the robot's starting or ending location.
    - **TASK** does not specify robot location either, but the observation places the robot at "ready-pose".

---

**Summary**:  
The main semantic differences are that CODE_FUNC is more explicit about the sequence (including closing the drawer and error handling), specifies the bottom drawer, and describes the use of the handle, while TASK is more abstract and goal-oriented.

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

def long_horizon_task2_oracle_seq():
    """
    Store a dice inside the drawer.
    """
    robot = RobotController()

    # Step 1: Pick the handle of the bottom drawer (approach along x-axis)
    robot.execute_movement(Object["drawer_bottom_handle"], mode=1, axis=0)

    # Step 2: Pull the bottom drawer open using the handle (approach along x-axis, longer distance)
    robot.execute_movement(Object["drawer_bottom_handle"], mode=4, axis=0, distance=0.1)

    # Step 3: Pick up dice1 (approach along z-axis)
    robot.execute_movement(Object["dice1"], mode=1, axis=2)

    # Step 4: Place dice1 into the bottom drawer (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 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 uses the handle to pull open the bottom drawer. Finally, the robot places the dice into the opened drawer. If any error occurs during these steps, it prints an error message.
Similarity: {'ok': True, 'reason': 'The described code sequence achieves the task by picking a dice, opening an unlocked drawer with its handle, and placing the dice into the open drawer, which matches the instruction.'}
Differences: 1. **Scope of Drawers Considered**  
   - **TASK**: "Drop one dice into any open drawer." This allows the dice to be placed into *any* drawer that is open, not specifying which one.
   - **CODE_FUNC**: The robot specifically interacts with the *bottom* drawer (drawer_bottom) and its handle (handle_bottom). Only this drawer is considered for opening and placing the dice.

2. **Drawer State Requirement**  
   - **TASK**: Assumes there is already an open drawer, or at least does not specify the need to open one.
   - **CODE_FUNC**: Explicitly includes the actions to open the bottom drawer (by picking up the handle and pulling it open) before placing the dice inside.

3. **Dice Selection**  
   - **TASK**: "one dice"—any dice can be chosen.
   - **CODE_FUNC**: The code picks up "a dice from the floor" but does not specify which one if multiple are present. (Minor, but the code may default to a specific dice.)

4. **Handle Manipulation**  
   - **TASK**: Does not mention the need to manipulate a handle or how to open a drawer.
   - **CODE_FUNC**: Explicitly picks up the handle and uses it to open the drawer.

5. **Error Handling**  
   - **TASK**: No mention of error handling.
   - **CODE_FUNC**: If any error occurs during the steps, it prints an error message.

6. **Assumption about Drawer Fullness**  
   - **TASK**: No mention of drawer capacity.
   - **CODE_FUNC**: Implicitly assumes the drawer is not full (since the place action requires it).

7. **Assumption about Drawer Lock State**  
   - **TASK**: No mention of locked/unlocked state.
   - **CODE_FUNC**: The code sequence only works for the bottom drawer, which is unlocked in the initial state.

8. **Generalization vs. Specificity**  
   - **TASK**: General instruction, applicable to any open drawer.
   - **CODE_FUNC**: Specific sequence for a particular drawer (bottom), including all necessary steps to open it.

9. **Initial State Assumptions**  
   - **TASK**: Does not specify the initial state of the robot or objects.
   - **CODE_FUNC**: Assumes the robot starts at ready-pose, hand empty, and the dice and handle are on the floor.

10. **Completeness of Steps**  
    - **TASK**: Only specifies the end goal (dice in open drawer).
    - **CODE_FUNC**: Specifies all intermediate steps (pick dice, pick handle, open drawer, place dice).

11. **Drawer Selection Logic**  
    - **TASK**: Implies a choice among open drawers.
    - **CODE_FUNC**: No logic for choosing among multiple open drawers; always uses the bottom drawer.

12. **Handling of Multiple Dice**  
    - **TASK**: "one dice"—could be any.
    - **CODE_FUNC**: Picks up a dice, but does not specify which if more than one is present.

13. **Handling of Multiple Open Drawers**  
    - **TASK**: Could use any open drawer.
    - **CODE_FUNC**: Only uses the bottom drawer, regardless of the state of other drawers.

14. **Post-Action State**  
    - **TASK**: No mention of robot's final state.
    - **CODE_FUNC**: The robot's final state is not specified, but after placing the dice, the hand is empty and the robot is free.

---

**Summary:**  
The main semantic differences are that the TASK is general and allows for any open drawer and any dice, while the CODE_FUNC is specific to the bottom drawer and includes all steps to open it, pick up the dice, and place it inside, with error handling. The CODE_FUNC does not generalize to other drawers or handle the case where multiple drawers are open.

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

def drop_one_dice_into_any_open_drawer():
    """Drop one dice into any open drawer."""
    robot = RobotController()
    try:
        # Select any dice on the floor
        dice = None
        for dice_name in ["dice1", "dice2"]:
            if Object[dice_name].is_on_floor():
                dice = Object[dice_name]
                break
        if dice is None:
            print("No dice available on the floor.")
            return

        # Find any open drawer that is not full
        open_drawer = None
        for drawer_name in ["drawer_bottom", "drawer_middle", "drawer_top"]:
            drawer = Object[drawer_name]
            if drawer.is_open() and not drawer.is_full():
                open_drawer = drawer
                break
        if open_drawer is None:
            print("No open drawer available.")
            return

        # Pick up the dice (approach along z-axis: axis=2)
        robot.execute_movement(dice, mode=1, axis=2)
        # Place the dice into the open drawer (approach along z-axis: axis=2)
        place_location = Object.get_drawer_place_location(open_drawer.name)
        robot.execute_movement(place_location, mode=2, axis=2)
    except Exception as error:
        print(f"Error during task execution: {error}")

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

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

