=== Instruction 1 ===
Is Correct: False
Syntax Pass: False
Code Function: This code controls a robot to sequentially open two drawers. First, the robot grasps the handle of the top drawer and pulls it open. Then, it grasps the handle of the middle drawer and pulls that open as well. If any error occurs during these actions, it prints an error message.
Similarity: {'ok': False, 'reason': 'The middle drawer is locked in the initial state, so the code cannot open both drawers as required by the task.'}
Differences: 1. **Drawer Selection**:  
   - **TASK**: "Open two drawers" is underspecified; it does not specify which two drawers to open.  
   - **CODE_FUNC**: Explicitly specifies to open the top drawer first, then the middle drawer.

2. **Order of Operations**:  
   - **TASK**: Does not specify any order in which the drawers should be opened.  
   - **CODE_FUNC**: Specifies a sequential order: top drawer first, then middle drawer.

3. **Error Handling**:  
   - **TASK**: No mention of error handling or what to do if an action fails.  
   - **CODE_FUNC**: Includes error handling—prints an error message if any action fails.

4. **Assumptions about Drawer State**:  
   - **TASK**: Does not specify whether drawers are locked/unlocked, open/closed, or which handles to use.  
   - **CODE_FUNC**: Assumes the robot will attempt to grasp the handle and pull, regardless of lock state (though in the domain, the middle drawer is locked and cannot be opened).

5. **Handle Usage**:  
   - **TASK**: Does not specify how to open the drawers (e.g., by pulling the handle).  
   - **CODE_FUNC**: Specifies that the robot grasps the handle of each drawer to open it.

6. **Number of Drawers**:  
   - **TASK**: "Two drawers" could be any two drawers.  
   - **CODE_FUNC**: Hardcodes the top and middle drawers.

7. **Implicit Preconditions**:  
   - **TASK**: No mention of preconditions (e.g., robot location, hand state).  
   - **CODE_FUNC**: Implies the robot must be able to grasp handles and be in the correct state/location.

8. **Completion Criteria**:  
   - **TASK**: Completion is when any two drawers are open.  
   - **CODE_FUNC**: Completion is when the top and middle drawers have been attempted to be opened (regardless of success).

9. **Domain Constraints Awareness**:  
   - **TASK**: Unaware of domain constraints (e.g., locked drawers).  
   - **CODE_FUNC**: Attempts to open the middle drawer even though it is locked in the initial state, which will fail.

10. **Output/Feedback**:  
    - **TASK**: No output or feedback specified.  
    - **CODE_FUNC**: Provides feedback via error messages if actions fail.

Refined Code Generated:
-------------------
"""Module to open any two unlocked drawers using the robot controller."""
from Object_list import Object
from skill_mapping import RobotController

def long_horizon_task2_oracle_seq():
    """Open any two unlocked drawers."""
    robot = RobotController()
    drawers_to_open = []

    # List of drawers and their corresponding handles
    drawers = [
        ("drawer_top", "drawer_top_handle"),
        ("drawer_middle", "drawer_middle_handle"),
        ("drawer_bottom", "drawer_bottom_handle"),
    ]

    # Check which drawers are unlocked in the initial state
    # For this code, we assume the robot can query the state or we hardcode based on the observation
    # In the given observation, only drawer_top is unlocked
    unlocked_drawers = ["drawer_top"]  # Add more if more are unlocked

    # Try to open any two unlocked drawers
    for drawer_name, handle_name in drawers:
        if drawer_name in unlocked_drawers:
            drawers_to_open.append((drawer_name, handle_name))
        if len(drawers_to_open) == 2:
            break

    # If less than two unlocked drawers, try to open as many as possible
    for drawer_name, handle_name in drawers_to_open:
        try:
            # Pick the handle
            robot.execute_movement(Object[handle_name], mode=1, axis=0)
            # Pull the drawer using the handle
            robot.execute_movement(Object[handle_name], mode=4, distance=0.1)
        except Exception as error:
            print(f"Error during task execution: {error}")

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

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

=== Instruction 2 ===
Is Correct: False
Syntax Pass: False
Code Function: This code controls a robot to perform a sequence of actions involving two drawers. First, the robot grasps the handle of the top drawer and pulls it open. Next, the robot grasps the handle of the middle drawer and pulls it open. If any error occurs during these actions, it is caught and printed. The process is initiated when the script is run directly.
Similarity: {'ok': False, 'reason': 'The middle drawer is locked in the initial state, so the robot cannot open it with the available actions.'}
Differences: 1. **Explicitness of Drawer Selection**:  
   - TASK specifies "a pair of drawers" to be opened, but does not specify which drawers.
   - CODE_FUNC explicitly selects the "top" and "middle" drawers.

2. **Assumption of Drawer State**:  
   - TASK does not mention the initial state of the drawers (locked/unlocked, open/closed).
   - CODE_FUNC assumes the top drawer is unlocked and closed, and the middle drawer is locked and closed (as per the observation), and attempts to open both.

3. **Error Handling**:  
   - TASK does not mention error handling.
   - CODE_FUNC includes error catching and printing if an error occurs during the process.

4. **Order of Operations**:  
   - TASK does not specify the order in which the drawers should be opened.
   - CODE_FUNC opens the top drawer first, then the middle drawer.

5. **Handle Grasping**:  
   - TASK simply says to "pull open" drawers, not specifying the need to grasp handles.
   - CODE_FUNC explicitly includes the action of grasping the handle before pulling.

6. **Initiation Condition**:  
   - TASK is a general instruction.
   - CODE_FUNC specifies that the process is initiated when the script is run directly (i.e., via `if __name__ == "__main__":`).

7. **Number of Drawers**:  
   - TASK says "a pair" (i.e., two), but is otherwise ambiguous.
   - CODE_FUNC is explicit about which two drawers.

8. **Handling Locked Drawers**:  
   - TASK does not mention what to do if a drawer is locked.
   - CODE_FUNC attempts to open the middle drawer even though it is locked, and relies on error handling to manage any failure.

9. **Level of Abstraction**:  
   - TASK is high-level and abstract.
   - CODE_FUNC is low-level and concrete, specifying the sequence of actions and error handling.

10. **Output/Feedback**:  
    - TASK does not specify any output or feedback.
    - CODE_FUNC prints errors if they occur.

11. **Contextual Awareness**:  
    - TASK is context-agnostic.
    - CODE_FUNC is context-aware, using the specific objects and state from the observation.

12. **Robot Location**:  
    - TASK does not mention robot location.
    - CODE_FUNC implicitly assumes the robot moves as needed, or is already in the correct location.

13. **Object Manipulation**:  
    - TASK does not mention manipulation of handles as separate objects.
    - CODE_FUNC treats handles as objects to be grasped.

14. **Script Structure**:  
    - TASK is a single instruction.
    - CODE_FUNC is a script with a main entry point and error handling structure.

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

def long_horizon_task2_oracle_seq():
    """Pull open a pair of drawers (any two that are possible to open)."""
    robot = RobotController()
    try:
        # Open top drawer if possible
        robot.execute_movement(Object["drawer_top_handle"], mode=1, axis=0)
        robot.execute_movement(Object["drawer_top_handle"], mode=4, distance=0.1)
        # Open bottom drawer if possible
        robot.execute_movement(Object["drawer_bottom_handle"], mode=1, axis=0)
        robot.execute_movement(Object["drawer_bottom_handle"], mode=4, distance=0.1)
    except Exception as error:
        print(f"Error during task execution: {error}")

def main():
    """Main entry point for pulling open a pair of drawers."""
    long_horizon_task2_oracle_seq()

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

=== Instruction 3 ===
Is Correct: False
Syntax Pass: False
Code Function: This code defines a sequence for a robot to interact with a drawer. First, the robot is instructed to pick or grasp the handle of the top drawer by moving along the x-axis. Next, the robot pulls the handle to open the drawer by a specified distance. The code handles any errors that occur during these actions by printing error messages. The sequence is executed when the script is run directly.
Similarity: {'ok': True, 'reason': 'The code functionality achieves the task by picking the handle of the unlocked top drawer and pulling it open, which is the required action to open all unlocked drawers given the initial state.'}
Differences: 1. **Scope of Action**:  
   - **TASK**: Instructs to "Open all unlocked drawers," which applies to every unlocked drawer in the environment (potentially more than one).
   - **CODE_FUNC**: Only interacts with the top drawer (specifically, the handle of the top drawer), not all unlocked drawers.

2. **Selection Criteria**:  
   - **TASK**: Requires checking the lock status of all drawers and opening those that are unlocked.
   - **CODE_FUNC**: Assumes the top drawer is the target and does not check or iterate over the lock status of other drawers.

3. **Iteration/Generality**:  
   - **TASK**: Implies a loop or repeated action for each unlocked drawer.
   - **CODE_FUNC**: Contains a hardcoded sequence for a single drawer; no iteration or generalization.

4. **Error Handling**:  
   - **TASK**: Does not specify error handling.
   - **CODE_FUNC**: Explicitly handles errors during pick and pull actions by printing error messages.

5. **Action Details**:  
   - **TASK**: Abstractly specifies "open" as the goal.
   - **CODE_FUNC**: Specifies the physical actions (move, pick/grasp, pull by distance) required to open the drawer.

6. **Precondition Checking**:  
   - **TASK**: Assumes the agent will check for "unlocked" status.
   - **CODE_FUNC**: Does not check the lock status in code; assumes the drawer is ready to be opened.

7. **Domain Knowledge**:  
   - **TASK**: Is domain-agnostic and could apply to any set of drawers.
   - **CODE_FUNC**: Is specific to a robot, a particular drawer, and a particular handle.

8. **Completeness**:  
   - **TASK**: Complete with respect to the instruction (all unlocked drawers).
   - **CODE_FUNC**: Incomplete with respect to the instruction (only one drawer).

9. **Object Identification**:  
   - **TASK**: Does not specify which drawer(s) or handle(s) to use; expects the agent to infer.
   - **CODE_FUNC**: Explicitly identifies and uses the handle of the top drawer.

10. **Language/Abstraction Level**:  
    - **TASK**: High-level, natural language instruction.
    - **CODE_FUNC**: Low-level, procedural code with explicit robot actions.

11. **Output/Feedback**:  
    - **TASK**: No output or feedback specified.
    - **CODE_FUNC**: Provides feedback via error messages.

12. **Assumptions**:  
    - **TASK**: Assumes the agent can identify and act on all unlocked drawers.
    - **CODE_FUNC**: Assumes only the top drawer is relevant and accessible.

13. **Concurrency**:  
    - **TASK**: Could be interpreted as allowing parallel opening of drawers.
    - **CODE_FUNC**: Sequentially opens a single drawer.

14. **State Change**:  
    - **TASK**: All unlocked drawers should be open at the end.
    - **CODE_FUNC**: Only the top drawer is open at the end.

15. **Error Recovery**:  
    - **TASK**: No mention of recovery from failure.
    - **CODE_FUNC**: Prints errors but does not attempt recovery or retry.

---

**Summary**: The main semantic differences are that the TASK is general, applies to all unlocked drawers, and is high-level, while the CODE_FUNC is specific, applies to only one drawer, and is low-level and procedural.

Refined Code Generated:
-------------------
"""Module to open all unlocked drawers using the robot controller."""

from Object_list import Object
from skill_mapping import RobotController

def open_all_unlocked_drawers():
    """Open all unlocked drawers by picking their handles and pulling."""
    robot = RobotController()

    # List of all drawers and their corresponding handles
    drawers = [
        ("drawer_top", "drawer_top_handle"),
        ("drawer_middle", "drawer_middle_handle"),
        ("drawer_bottom", "drawer_bottom_handle"),
    ]

    for drawer_name, handle_name in drawers:
        drawer = Object.get(drawer_name)
        handle = Object.get(handle_name)
        if drawer is None or handle is None:
            continue

        # Check if the drawer is unlocked and closed
        if getattr(drawer, "is_unlocked", False) and getattr(drawer, "is_closed", False):
            try:
                # Move to the handle and pick it
                robot.execute_movement(handle, mode=1, axis=0)
                # Pull to open the drawer
                robot.execute_movement(handle, mode=4, distance=0.1)
            except Exception as error:
                print(f"Error opening {drawer_name}: {error}")

def main():
    """Main entry point to open all unlocked drawers."""
    open_all_unlocked_drawers()

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 set of drawers. First, the robot moves to the drawer area. Then, it picks the top drawer handle and pulls it to open the top drawer. Next, it picks the middle drawer handle and pulls it to open the middle drawer. If any error occurs during these steps, it is caught and printed. The process is initiated when the script is run directly.
Similarity: {'ok': False, 'reason': 'The code attempts to open both the top and middle drawers, but the middle drawer is locked in the initial state and cannot be opened with the available actions.'}
Differences: 1. **Number of Drawers to Open**:  
   - **TASK**: Instructs to "slide open two of the drawers" but does not specify which two.
   - **CODE_FUNC**: Opens the top and middle drawers specifically.

2. **Drawer Lock State**:  
   - **TASK**: Does not specify whether the drawers are locked or unlocked.
   - **CODE_FUNC**: Attempts to open the top (unlocked) and middle (locked) drawers. According to the PDDL, the middle drawer is locked and cannot be opened, so the code will fail or error at this step.

3. **Error Handling**:  
   - **TASK**: No mention of error handling or what to do if a drawer cannot be opened.
   - **CODE_FUNC**: Includes error catching and prints errors if they occur during the process.

4. **Order of Operations**:  
   - **TASK**: Does not specify the order in which the drawers should be opened.
   - **CODE_FUNC**: Opens the top drawer first, then the middle drawer.

5. **Implicit Assumptions about Handles**:  
   - **TASK**: Does not mention handles or how to open the drawers.
   - **CODE_FUNC**: Explicitly picks the handle of each drawer before pulling to open.

6. **Robot Location**:  
   - **TASK**: Does not specify where the robot should start or move.
   - **CODE_FUNC**: Explicitly moves the robot to the drawer area before interacting with the drawers.

7. **Completeness with Respect to Feasibility**:  
   - **TASK**: Is always feasible as it is abstract.
   - **CODE_FUNC**: Is not feasible in the given initial state for the middle drawer, as it is locked.

8. **Initiation Condition**:  
   - **TASK**: Is a general instruction.
   - **CODE_FUNC**: Only executes when the script is run directly (i.e., under `if __name__ == "__main__":`).

9. **Domain Knowledge Usage**:  
   - **TASK**: Does not reference domain-specific predicates or actions.
   - **CODE_FUNC**: Is tightly coupled to the domain's actions (pick, pull, etc.) and object names.

10. **Output/Feedback**:  
    - **TASK**: No mention of output or feedback.
    - **CODE_FUNC**: Prints errors if they occur.

---

**Summary**:  
The main semantic differences are specificity (which drawers, order, and method), feasibility (locked drawer), error handling, and explicitness of actions and robot state.

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

def long_horizon_task2_oracle_seq():
    """
    Slide open two of the drawers (any two that are possible).
    """
    robot = RobotController()

    # Move from ready-pose to drawer-area
    robot.execute_movement(mode=7)  # execute_go

    # Open drawer_top (unlocked and closed in initial state)
    robot.execute_movement(Object["drawer_top_handle"], mode=1, axis=0)  # execute_pick
    robot.execute_movement(Object["drawer_top_handle"], mode=4, distance=0.1)  # execute_pull

    # Open drawer_bottom (assumed to be unlocked and closed if present)
    robot.execute_movement(Object["drawer_bottom_handle"], mode=1, axis=0)  # execute_pick
    robot.execute_movement(Object["drawer_bottom_handle"], mode=4, distance=0.1)  # execute_pull

def main():
    long_horizon_task2_oracle_seq()

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

=== Instruction 5 ===
Is Correct: False
Syntax Pass: False
Code Function: This code controls a robot to perform a two-step task involving a drawer. First, the robot moves to grasp the handle of the top drawer by approaching it along the x-axis. Next, the robot pulls the handle to open the drawer by a specified distance. If any error occurs during these actions, it is caught and printed. The process is initiated when the script is run directly.
Similarity: {'ok': True, 'reason': 'The code opens the top drawer, which is the only unlocked drawer in the initial state, thus correctly uncovering every drawer that isn’t locked.'}
Differences: 1. **Scope of Action**  
   - TASK: Instructs to uncover (open) every drawer that isn’t locked, i.e., all unlocked drawers, regardless of their number.
   - CODE_FUNC: Only operates on the top drawer, not all unlocked drawers.

2. **Condition on Drawer State**  
   - TASK: Specifies to act only on drawers that are not locked.
   - CODE_FUNC: Assumes the top drawer is the target and does not check or generalize to other drawers or their lock state.

3. **Completeness**  
   - TASK: Requires the robot to check all drawers and open each one that is unlocked and closed.
   - CODE_FUNC: Only opens one specific drawer (the top one), not all that meet the criteria.

4. **Error Handling**  
   - TASK: No mention of error handling.
   - CODE_FUNC: Includes error catching and printing.

5. **Initiation**  
   - TASK: Is an instruction, not executable code.
   - CODE_FUNC: Is executable code that runs when the script is executed directly.

6. **Level of Abstraction**  
   - TASK: High-level, declarative instruction.
   - CODE_FUNC: Low-level, imperative implementation for a specific instance.

7. **Assumptions about Handles**  
   - TASK: Implicitly assumes the robot will find and use the correct handle for each drawer.
   - CODE_FUNC: Explicitly moves to and grasps the handle of the top drawer.

8. **Parameterization**  
   - TASK: General over all drawers.
   - CODE_FUNC: Hardcoded for the top drawer.

9. **Action Sequence**  
   - TASK: Implies a loop or repeated action for each qualifying drawer.
   - CODE_FUNC: Single sequence for one drawer.

10. **Output/Feedback**  
    - TASK: No output or feedback specified.
    - CODE_FUNC: Prints errors if they occur.

11. **Physical Movement Details**  
    - TASK: Abstracts away from how the robot moves or manipulates.
    - CODE_FUNC: Specifies movement along the x-axis and a specific pull distance.

12. **Precondition Checking**  
    - TASK: Requires checking if a drawer is locked.
    - CODE_FUNC: Does not check the lock state in code; assumes the top drawer is unlocked.

13. **Domain Knowledge Usage**  
    - TASK: Relies on domain predicates (e.g., drawer-locked, drawer-unlocked).
    - CODE_FUNC: Does not reference or check these predicates directly.

14. **Generalizability**  
    - TASK: General instruction for any environment with drawers.
    - CODE_FUNC: Specific to a particular environment and drawer.

15. **Goal State**  
    - TASK: All unlocked drawers are open.
    - CODE_FUNC: Only the top drawer is open (if it was closed and unlocked).

16. **Handling of Already Open Drawers**  
    - TASK: Implies only closed, unlocked drawers should be opened.
    - CODE_FUNC: May attempt to open the top drawer regardless of its current state.

17. **Handling of Locked Drawers**  
    - TASK: Explicitly skips locked drawers.
    - CODE_FUNC: Does not check if the drawer is locked before attempting to open.

18. **Language/Format**  
    - TASK: Natural language instruction.
    - CODE_FUNC: Python (or similar) code.

19. **Error Recovery**  
    - TASK: No mention of what to do if a drawer cannot be opened.
    - CODE_FUNC: Catches and prints errors but does not attempt recovery.

20. **Initiation Trigger**  
    - TASK: Requires an agent to interpret and execute.
    - CODE_FUNC: Runs automatically when the script is executed.

---

**Summary:**  
The TASK is a general, high-level instruction to open all unlocked drawers, while the CODE_FUNC is a specific, low-level implementation that only opens the top drawer, with no generalization or checking for other drawers or their lock state. The CODE_FUNC also includes error handling and is executable, whereas the TASK is not.

Refined Code Generated:
-------------------
"""Module to uncover (open) every drawer that isn’t locked."""

from Object_list import Object
from skill_mapping import RobotController

def long_horizon_task2_oracle_seq():
    """Open every drawer that is unlocked and closed."""
    robot = RobotController()

    # List of all drawers and their corresponding handles
    drawers = [
        {"drawer": "drawer_top", "handle": "drawer_top_handle"},
        {"drawer": "drawer_middle", "handle": "drawer_middle_handle"},
        {"drawer": "drawer_bottom", "handle": "drawer_bottom_handle"},
    ]

    for d in drawers:
        drawer_name = d["drawer"]
        handle_name = d["handle"]

        # Check if the drawer is unlocked and closed
        if robot.is_drawer_unlocked(drawer_name) and robot.is_drawer_closed(drawer_name):
            # Move to the handle
            robot.execute_movement(Object[handle_name], mode=1, axis=0)
            # Pull to open the drawer
            robot.execute_movement(Object[handle_name], mode=4, distance=0.1)

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

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

