Create valid.jsonl

valid.jsonl

@@ -0,0 +1,273 @@
+{"input": "Switch the suction off.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Move rightward, descend, then shift to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Relocate the white block to the right of the yellow block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Shift left, reach white block, turn on suction, and then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Move the arm towards the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
+{"input": "Go left, go to white block, activate suction, then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Turn on suction cup and shift right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Go to yellow block location, then shift left, and turn on suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Shift to the left, ascend, then move down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Navigate to (142.65, 198.34, -49.21) and then proceed upward", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 142.65, \"y\": 198.34, \"z\": -49.21}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Get the the robotic arm to the down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Shift the the robotic arm to the left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Shift the robot moving down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Descend and then move to (142.65, 198.34, -49.21)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 142.65, \"y\": 198.34, \"z\": -49.21}}]}"}
+{"input": "Move the robotic arm to coordinates (450, 320, -125).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 450, \"y\": 320, \"z\": -125}}]}"}
+{"input": "Proceed to (289.21, 101.68, -49.82) and then activate suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 289.21, \"y\": 101.68, \"z\": -49.82}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Ascend, descend, move left, and then move right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Move to coordinate (598.76, 523.98, -260.45)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 598.76, \"y\": 523.98, \"z\": -260.45}}]}"}
+{"input": "Get the robot arm to go forward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Grab the violet block and move it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
+{"input": "Move upwards and then move to (314.52, 125.73, -47.37)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 314.52, \"y\": 125.73, \"z\": -47.37}}]}"}
+{"input": "Ascend, descend, go left, and then go right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Shift the robot moving backward four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
+{"input": "Take custody of yellow block, rise, and then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Make the arm move to the up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Move the arm to (3107, -2223, 49).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 3107, \"y\": -2223, \"z\": 49}}]}"}
+{"input": "Move the robotic arm to coordinates (400, 300, -160).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 400, \"y\": 300, \"z\": -160}}]}"}
+{"input": "Reach yellow block, shift left, activate suction, then move right", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Let suction on.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Move up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Go to the yellow block's position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
+{"input": "Grasp the yellow block, ascend upwards, and turn off suction cup", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Shift left, move to white block, turn on suction, and then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Move leftward, go up, and then descend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Seize yellow block, ascend, and switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Relocate the white block to the right of the yellow block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Rearrange the yellow block to be placed behind the white block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Move left, reach white block, activate suction, then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Move the robot to the backward direction direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
+{"input": "Move to the position of pink block and go forward", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
+{"input": "Get the the robotic arm to the forward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Move the robotic arm left four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Shift the white block to the right of the yellow block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Grasp yellow block, ascend upwards, and turn off suction cup", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Turn on suction cup and shift up", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Get the robotic arm to go down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Shift the the robotic arm to the up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Shift the robot in the right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Activate suction, proceed to location (201.14, 224.94, -60.29), go upwards, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 201.14, \"y\": 224.94, \"z\": -60.29}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Relocate the yellow block ahead of the white block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Shift the robot rightward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Shift the arm towards the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Move to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Get the robot arm to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
+{"input": "Start suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Move towards yellow block, go left, and activate suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Switch on suction, move to position (231.84, 210.89, -57.99), ascend, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 231.84, \"y\": 210.89, \"z\": -57.99}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Go to (531.5, 432.8, 64.1), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 531.5, \"y\": 432.8, \"z\": 64.1}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Proceed to the right, descend, then shift left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Navigate to (324.5, 258.5, -3.4), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 324.5, \"y\": 258.5, \"z\": -3.4}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Go left, go to white block, activate suction, then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Get the robot arm to go up direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Move to coordinate (418.49, 348.76, -94.14)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 418.49, \"y\": 348.76, \"z\": -94.14}}]}"}
+{"input": "Move the robotic arm to coordinates (430, 300, -115).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 430, \"y\": 300, \"z\": -115}}]}"}
+{"input": "Make the robot arm move to the left four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Rearrange the yellow block's position to the rear of the white block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Activate suction, go to (238.89, 231.07, -62.18), ascend, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 238.89, \"y\": 231.07, \"z\": -62.18}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Shift the yellow block to the front of the white block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Move downwards followed by a upward movement", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Move the arm to (5145, -4262, 48).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 5145, \"y\": -4262, \"z\": 48}}]}"}
+{"input": "Move to the up, and then down, and then left, and then right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Get the robotic arm to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Shift the robot downward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Grasp yellow block, ascend upwards, and turn off suction cup", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Get the robot in the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Navigate to the white block position and then turn on suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Move to coordinate (815.23, 197.42, -133.50)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 815.23, \"y\": 197.42, \"z\": -133.5}}]}"}
+{"input": "Turn on suction, shift left, go up, then shift right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Move to (1014.20, -266.30, 49.19)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 1014.2, \"y\": -266.3, \"z\": 49.19}}]}"}
+{"input": "Go to (214.38, 156.59, -53.21), move right, turn off the suction, then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 214.38, \"y\": 156.59, \"z\": -53.21}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Shift to the left, ascend, then move down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Transfer the white block to the right side of the yellow block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Shift the robot to go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Get the the robotic arm to the right four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Ascend, descend, shift left, then shift right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Shift the robot to the up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Move towards the forward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Get the robotic arm towards left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Go to the yellow block position and then activate suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Grab violet block and shift it to the right.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
+{"input": "Ascend, descend, go left, and then go right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Switch on suction, go left, climb, then go right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Turn on suction cup and move left", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Move rightward, descend, then shift to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Go right, descend, then shift to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Shift the robot moving up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Turn on suction cup and travel to the up direction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Shift the robotic arm to the right four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Get the robot to go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Ascend, descend, move left, and then move right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Shift the robotic arm to go right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Shift to the left, ascend, then move down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Proceed to the right, descend, then move left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Move to (240.12, 49.81, -53.76)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 240.12, \"y\": 49.81, \"z\": -53.76}}]}"}
+{"input": "Get the robot moving backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
+{"input": "Get the robot leftward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Head to (211.22, 163.57, -52.49), shift right, switch off suction, then shift down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 211.22, \"y\": 163.57, \"z\": -52.49}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Shift the robot forward four ", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Activate suction, go left, ascend, then go right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Shift right, descend, then move to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Shift the robot to the down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Take possession of the yellow block, rise, and then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Go to black block location.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
+{"input": "Get the robotic arm towards the up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Set suction off.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Put the yellow block onto the white one.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Turn on suction cup and then go left", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Make the arm move to the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Travel to the yellow block's position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
+{"input": "Get to yellow block, go left, turn on the suction, then go right", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Shift the robot rightward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Move towards the down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Get the robot arm to go backward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
+{"input": "Navigate to the yellow block's location", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
+{"input": "Get the robot to go up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Take possession of the yellow block, rise, and then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Get the arm to the left direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Make the arm move to the backward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
+{"input": "Get the the robotic arm left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Move to (217.46, 161.84, -53.31), shift right, switch off suction, then move down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 217.46, \"y\": 161.84, \"z\": -53.31}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Shift the yellow block so it's in front of the white block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Make the violet block forward of the violet block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
+{"input": "Move robotic arm to the up four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Go up, then go down, move left, and finally go right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Stop the suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Move upwards, grab the white block, and turn off suction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Activate suction, move to the left, rise, then move right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Turn on suction, move left, go upwards, then go right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Navigate to (270.0, 220.0, -15.0), go down, and then turn off suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 270.0, \"y\": 220.0, \"z\": -15.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Go left, go to white block, activate suction, then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Position the arm to white block coordinates", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
+{"input": "Move robotic arm to up four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Move to the position of blue block and go forward", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
+{"input": "Activate suction, go left, ascend, then go right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Move the robotic arm to move to white block position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
+{"input": "Move the robotic arm to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Grabbing yellow block, move upwards, and deactivate suction cup", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Make the robot arm move to the left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Go over to yellow block position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
+{"input": "Ascend, descend, shift left, and then shift right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Shift the robot rightward four ", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Reach (187.43, 167.82, -54.78) and then move up", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 187.43, \"y\": 167.82, \"z\": -54.78}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Get the arm to the forward direction direction four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Move arm to the right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Navigate to (415.8, 337.8, 27.0), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 415.8, \"y\": 337.8, \"z\": 27.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Shift the robotic arm to the right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Shift the robotic arm towards the left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Go to (215.46, 155.95, -53.12), move right, turn off the suction, then move down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 215.46, \"y\": 155.95, \"z\": -53.12}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Move the arm to (4119, -3236, 63).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 4119, \"y\": -3236, \"z\": 63}}]}"}
+{"input": "Shift the robotic arm to the left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Go down and then switch on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Shift the the robotic arm forward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Place the white block above the yellow block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Switch on suction, navigate to position (202.55, 195.86, -58.14), move upward, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 202.55, \"y\": 195.86, \"z\": -58.14}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Move the robotic arm to the down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Move towards the up direction four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Move towards the yellow block position, then go left, and activate suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Shift the robot arm to go down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Move to coordinate (356.33, 267.32, -78.17)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 356.33, \"y\": 267.32, \"z\": -78.17}}]}"}
+{"input": "Move robotic arm to right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Proceed to the position of the yellow block and then turn on suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Get the robot arm to go backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
+{"input": "Shift the robot to go forward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Shift the robot arm to go forward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Move left, move to white block, activate suction, then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Set the white block on top of the yellow one.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Go upwards and then come downwards", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Move downwards and then move to (314.52, 125.73, -47.37)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 314.52, \"y\": 125.73, \"z\": -47.37}}]}"}
+{"input": "Move arm to the up four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Get the arm to the forward direction direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Move the robotic arm left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Activate suction, go to (229.36, 224.02, -59.49), ascend, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 229.36, \"y\": 224.02, \"z\": -59.49}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Turn on suction cup and shift down", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Proceed to (220.0, 170.0, -40.0), go up, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 220.0, \"y\": 170.0, \"z\": -40.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Move the robotic arm down four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Adjust the yellow block to be in front of the white block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Shift the the robotic arm to the forward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Go to the left, go up, and then descend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Get the robot forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Grab the violet block and move it backward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
+{"input": "Get the robot to go right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Rearrange the position of the yellow block in front of the white block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Approach yellow block, shift left, switch on suction, and then shift right", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Ascend, descend, move left, and then move right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Grasp the yellow block, ascend, and switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Shift the robotic arm to the down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Shift the robot arm to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Get the red block and shift it to the left.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
+{"input": "Shift right, descend, then move to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Proceed to the right, descend, then shift left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Navigate to (300.0, 250.0, 0.0), go up, and then turn off suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 300.0, \"y\": 250.0, \"z\": 0.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Move to (371.04, 206.21, -139.39)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 371.04, \"y\": 206.21, \"z\": -139.39}}]}"}
+{"input": "Move to (697.40, 46.80, -50.85)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 697.4, \"y\": 46.8, \"z\": -50.85}}]}"}
+{"input": "Move upward, then downward, shift left, and finally shift right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Get the the robotic arm forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Go left, go to white block, activate suction, then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Deactivate the suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Go rightward and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Switch on suction, go left, go upwards, then go right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Get the the robotic arm to the forward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Move the robotic arm to the right four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Move left, move to white block, activate suction, then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Make the robot move to the left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Proceed to (457.2, 373.2, 40.5), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 457.2, \"y\": 373.2, \"z\": 40.5}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Get the robotic arm to the down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Shift the robot arm to go forward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Get the the robotic arm right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Turn on suction, move left, go upwards, then go right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Get the the robotic arm backward four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
+{"input": "Move left, reach white block, switch on suction, then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Shift the robotic arm to the right four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Proceed to the location of the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
+{"input": "Head to (222.19, 185.73, -58.36) and then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 222.19, \"y\": 185.73, \"z\": -58.36}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Rearrange the position of the yellow block to be placed at the back of the white block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Go to the location of the black block and turn on suction.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
+{"input": "Make the robotic arm move to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Grab the blue block and move it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
+{"input": "Get the robotic arm to the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
+{"input": "Move the arm to (1294, -396, 67).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 1294, \"y\": -396, \"z\": 67}}]}"}
+{"input": "Position the yellow block so it's situated behind the white block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Move to (280.18, 102.44, -82.17)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 280.18, \"y\": 102.44, \"z\": -82.17}}]}"}
+{"input": "Go to yellow block position, then move towards left side and turn on suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Shift right, move downwards, then leftward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Move the yellow block to be in front of the white block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Move to yellow block position, then move left, and activate suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Approach yellow block, shift left, activate suction, then shift right", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Proceed up and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Get the robot to go backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
+{"input": "Move left, ascend, then descend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Shift the robot arm to go right four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Get the green block and shift it to the left.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
+{"input": "Move left and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Adjust the yellow block's position so it's behind the white block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Head to (222.19, 185.73, -58.36) and then go left", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 222.19, \"y\": 185.73, \"z\": -58.36}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Shift the the robotic arm down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Get the robot downward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Move towards the right direction four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Turn on suction, reach coordinates (246.65, 240.15, -65.04), move upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 246.65, \"y\": 240.15, \"z\": -65.04}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Get the the robotic arm down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Move yourself to the up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Reach yellow block, move to the left, activate suction, and then move to the right", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Grasp the black block and push it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
+{"input": "Move to the position of black block and go forward", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
+{"input": "Move upwards and then reach (187.43, 167.82, -54.78)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 187.43, \"y\": 167.82, \"z\": -54.78}}]}"}
+{"input": "Get the the robotic arm backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
+{"input": "Move the robotic arm to the down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Get the arm to the down direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Shift the the robotic arm left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
+{"input": "Direct the arm to the area containing the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
+{"input": "Move to (223.88, 151.33, -53.78), go right, deactivate suction, then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 223.88, \"y\": 151.33, \"z\": -53.78}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Shift the robot arm to go right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Turn on suction cup and move right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Head to (211.22, 163.57, -52.49), shift right, switch off suction, then shift down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 211.22, \"y\": 163.57, \"z\": -52.49}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Shift left, move to white block, turn on suction, then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
+{"input": "Shift the robotic arm to go right four times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Move down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Proceed to (581.4, 478.1, 81.0), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 581.4, \"y\": 478.1, \"z\": 81.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Make the arm move to the right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
+{"input": "Travel to yellow block, shift left, and activate the suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
+{"input": "Go to the left, go up, and then descend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
+{"input": "Move to (230.75, 36.94, -45.89)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 230.75, \"y\": 36.94, \"z\": -45.89}}]}"}
+{"input": "Move upwards, grasp the white block, and turn off suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
+{"input": "Get the robot arm to go right direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}