{"input": "Shift the robot arm to go up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move to (261.22, 76.38, -68.41)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 261.22, \"y\": 76.38, \"z\": -68.41}}]}"}
{"input": "Make the robot move to the forward 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": "Go to green block coordinate and move rightward.", "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": "Make the robot move to the up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the arm to the forward direction direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move to (462.16, 301.82, -190.44)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 462.16, \"y\": 301.82, \"z\": -190.44}}]}"}
{"input": "Move towards the up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Go right, move downwards, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get the robotic arm 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": "Switch on suction, navigate to position (216.27, 219.96, -58.66), move upward, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 216.27, \"y\": 219.96, \"z\": -58.66}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"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": "Move the robotic arm to the right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move the robotic arm down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Turn on suction cup and move upwards", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the position of the yellow block forward 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 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 to (335.71, 167.37, -115.94)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 335.71, \"y\": 167.37, \"z\": -115.94}}]}"}
{"input": "Go downward and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Reach (297.18, 137.89, -49.08) and then go leftward", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 297.18, \"y\": 137.89, \"z\": -49.08}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Go left and then move up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Go to yellow block location, go left, 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": "Get the the robotic arm to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Relocate 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 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": "Head towards the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Reach yellow block, navigate 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": "Navigate to where the yellow block is located", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"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": "Shift the robot moving right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Get 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": "Make the robot move to the forward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move to the position of the yellow block, 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": "Make the robotic arm move to the down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move upwards and then proceed to (242.81, 174.99, -55.73)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 242.81, \"y\": 174.99, \"z\": -55.73}}]}"}
{"input": "Reach the location of the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Get the robot to the down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move the robotic arm to coordinates (750, 460, -90).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 750, \"y\": 460, \"z\": -90}}]}"}
{"input": "Adjust 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": "Shift the robot leftward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move left, ascend, then descend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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": "Turn on suction, reach coordinates (244.51, 237.95, -64.82), move upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 244.51, \"y\": 237.95, \"z\": -64.82}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Turn on suction cup and move downwards", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Enable suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move sideways to the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Proceed leftward followed by an downward elevation", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Proceed down and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Get the the robotic arm to the backward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Make the 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": "Move backward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Disable suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move sideways to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move to coordinate (666.92, 456.87, -294.76)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 666.92, \"y\": 456.87, \"z\": -294.76}}]}"}
{"input": "Move the arm to coordinates of the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Move the robotic arm to coordinates (440, 280, -105).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 440, \"y\": 280, \"z\": -105}}]}"}
{"input": "Shift the robot forward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move the robot to the forward direction direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Take custody of yellow block, go up, and then turn 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": "Turn suction on.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Shift to the right and then shift towards the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get the robot arm to go backward direction 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": "Get the robot arm to go forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Turn on suction cup and navigate down", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the robot arm to go left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get 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": "Move 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": "Shift the robot arm to go right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move to (486.40, 256.10, -121.41)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 486.4, \"y\": 256.1, \"z\": -121.41}}]}"}
{"input": "Proceed to (309.62, 82.63, -46.1) and then activate suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 309.62, \"y\": 82.63, \"z\": -46.1}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Make the robot move to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Proceed to (330.0, 280.0, 15.0), turn right, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 330.0, \"y\": 280.0, \"z\": 15.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the robotic arm towards the right direction", "response": "{\"actions\": [{\"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": "Head up and then switch on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Approach yellow block, shift left, switch on 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": "Get the robot to go 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 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": "Shift the robot leftward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Turn on suction, reach coordinates (235.09, 233.99, -63.34), move upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 235.09, \"y\": 233.99, \"z\": -63.34}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"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 to go down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the robot 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": "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": "Head down and then switch on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Get the robotic arm towards forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Turn on suction, travel to (211.53, 246.51, -65.74), go upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 211.53, \"y\": 246.51, \"z\": -65.74}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"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": "Use the suction cup to grab the blue block and move it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move to the right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Slide 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": "Get the robot arm to go backward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Shift the robotic arm towards left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Stop the suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Go up, then descend, go 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 robot in the right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift the robot moving down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Grasp the violet block and push it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Rearrange the yellow block to be 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 arm 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": "Get the robot to go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Switch off the suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Turn suction cup off.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the robotic arm towards the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Get the arm to the backward direction direction 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": "Rearrange the position of the yellow block so it's 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": "Get the black block and shift it to the left.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Get the arm towards the left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Go down and then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Travel right and then switch on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Get the arm to the right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move robotic arm to 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": "Move to the backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Proceed to the coordinates of the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Switch off suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Head to yellow block position, move 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": "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": "Make the blue block move forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"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": "Move sideways to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Get the robotic arm to go up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the robot arm to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Approach (232.15, 143.91, -54.17), shift right, switch off suction, then shift down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 232.15, \"y\": 143.91, \"z\": -54.17}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the robotic arm towards the down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Take hold of the 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": "Go right, then go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Descend and then head to (330.91, 112.86, -46.02)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 330.91, \"y\": 112.86, \"z\": -46.02}}]}"}
{"input": "Go right and then switch on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move to coordinate (621.98, 449.83, -317.12)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 621.98, \"y\": 449.83, \"z\": -317.12}}]}"}
{"input": "Shift the robotic arm to the down", "response": "{\"actions\": [{\"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": "Move 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": "Set the suction cup off.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Activate suction and then navigate to where the white block is", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Shift right and then proceed to (209.56, 178.21, -56.92)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 209.56, \"y\": 178.21, \"z\": -56.92}}]}"}
{"input": "Shift 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": "Ascend, take possession of white block, and deactivate 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": "Shift to the backward and then shift towards the forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Go right and then move up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift 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": "Move to coordinate (695.29, 472.45, -282.98)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 695.29, \"y\": 472.45, \"z\": -282.98}}]}"}
{"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 towards the left and then rise", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Capture 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": "Move robotic arm to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to the backward and then move to the forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Obtain 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": "Activate suction, shift left, climb, 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": "Proceed right and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Reach 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": "Move arm to left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Position the yellow block to the right 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\": \"right\"}}, {\"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": "Arrange the yellow block to the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move robotic arm to the forward 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": "Activate suction, shift left, rise, 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": "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": "Move the arm to (2432, -1535, 48).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 2432, \"y\": -1535, \"z\": 48}}]}"}
{"input": "Stack the white block over 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": "Move backward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Reach yellow block, go 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": "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": "Go forward then backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move the white block to the left, and then to the right.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"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 rightwards and then go to (263.47, 162.85, -53.17)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 263.47, \"y\": 162.85, \"z\": -53.17}}]}"}
{"input": "Navigate to (320.0, 270.0, 10.0), turn left, and then turn off suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 320.0, \"y\": 270.0, \"z\": 10.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Head to (214.30, 160.60, -52.68), shift right, switch off suction, then shift down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 214.3, \"y\": 160.6, \"z\": -52.68}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move the arm to (3781, -2898, 55).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 3781, \"y\": -2898, \"z\": 55}}]}"}
{"input": "Move robotic arm to the down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the the robotic arm to the backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Navigate left and then go downwards", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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": "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": "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": "Place the yellow block on the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the robotic arm to go right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Proceed to yellow block location, then shift left, 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": "Move arm to forward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Shift the robot moving left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get the arm towards the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to (591.90, 151.50, -85.71)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 591.9, \"y\": 151.5, \"z\": -85.71}}]}"}
{"input": "Move backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Make the robotic arm move 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 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": "Shift the robot arm to go backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Shift the robot to go right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Get to yellow block, go left, switch on 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": "Move the arm towards the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Get 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": "Shift the robot leftward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Make the robot move to the down direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move arm to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Head right and then switch on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Make the robot arm move to the backward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Position 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": "Shift the robot arm to go backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Turn on the suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"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": "Move 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": "Move the arm on the left of blue block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move the robotic arm to coordinates (420, 290, -110).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 420, \"y\": 290, \"z\": -110}}]}"}
{"input": "Go left, go to white block, switch 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": "Get the robot to go forward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Get the robot to the up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the robot arm to go right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move to coordinate (250.12,137.71,-55.23)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 250.12, \"y\": 137.71, \"z\": -55.23}}]}"}
{"input": "Shift the robotic arm to the backward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Rearrange the position of the yellow block to be 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": "Move robotic arm to the backward direction 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": "Navigate to where the yellow block is, then shift 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 right, move downwards, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Position the yellow block 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": "Go to the left and then proceed to (347.28, 99.77, -44.81)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 347.28, \"y\": 99.77, \"z\": -44.81}}]}"}
{"input": "Go to pink block location.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Position the yellow block over 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": "Go up, then descend, go 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": "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 pink block move forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Get to yellow block, move 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": "Switch on suction, navigate to position (213.76, 217.38, -58.45), move upward, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 213.76, \"y\": 217.38, \"z\": -58.45}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"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 robot upward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Rearrange the yellow block's position to be positioned 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": "Navigate right and then go upwards", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move rightwards and then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"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": "Move to coordinate (391.85, 643.72, -142.98)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 391.85, \"y\": 643.72, \"z\": -142.98}}]}"}
{"input": "Shift the robot moving forward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Head to (330.91, 112.86, -46.02) and then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 330.91, \"y\": 112.86, \"z\": -46.02}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the robot arm to go up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move to the left and then move to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Get the robot arm to go right direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move to the left and grab the blue block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Shift the robot moving 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": "Shift the arm towards the left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Enable suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Transfer 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": "Activate suction, reach position (163.42, 212.18, -49.73), ascend, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 163.42, \"y\": 212.18, \"z\": -49.73}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move the robotic arm to coordinates (330, 200, -65).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 330, \"y\": 200, \"z\": -65}}]}"}
{"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": "Shift the white block to the back 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\": \"backward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Make the robotic arm move to the forward 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": "Shift the the robotic arm up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Proceed right and then travel to (242.81, 174.99, -55.73)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 242.81, \"y\": 174.99, \"z\": -55.73}}]}"}
{"input": "Make the robot move to the left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move the white block to the front 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\": \"forward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robotic arm to go left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift the arm towards the up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Activate the suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move to (204.78, 175.91, -57.23) and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 204.78, \"y\": 175.91, \"z\": -57.23}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Make the arm move 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 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": "Proceed to (347.28, 99.77, -44.81) and then shift rightwards", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 347.28, \"y\": 99.77, \"z\": -44.81}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Place the yellow block on the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift left and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"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": "Get the robot moving left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Position the yellow block atop 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\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Set the white block on top 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\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Go to blue block and move it backward", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"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 robot to go backward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"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": "Let the suction cup on.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move the arm on the left of violet block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Position the white block atop 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 to the yellow block location, go 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": "Go left, go 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": "Shift the robot arm to go 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": "Shift the robot arm to go left direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Go to yellow block, 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": "Ascend, take hold of white block, and deactivate 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": "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": "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": "Turn on the suction and proceed to the coordinates of the yellow block", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Go to (218.64, 158.41, -53.41), move right, turn off the suction, then move down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 218.64, \"y\": 158.41, \"z\": -53.41}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the arm to the right direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move the arm to (4917, -4034, 49).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 4917, \"y\": -4034, \"z\": 49}}]}"}
{"input": "Move to the left and grab the violet block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Get the robot arm to position towards the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Get the robot arm to go right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"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": "Shift the robot arm to go down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Proceed to (329.17, 67.11, -45.73) and then turn on suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 329.17, \"y\": 67.11, \"z\": -45.73}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Shift the robot upward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Go left, go to white block, switch 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": "Reach (187.43, 167.82, -54.78) and then turn left", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 187.43, \"y\": 167.82, \"z\": -54.78}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move you arms toward the coordinates of the white block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Shift the robot arm to go forward 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": "Get the robotic arm to the right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Set the yellow block on top 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\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move the robotic arm backward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Activate suction, move left, ascend, 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": "Take hold of yellow block, go up, and then turn 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": "Go to violet block and move it backward", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Head over to the white block's position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"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": "Move the pink block and advance its position forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Make the robot move to the down direction 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": "Turn on 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 to coordinate (458.74, 582.36, -245.67)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 458.74, \"y\": 582.36, \"z\": -245.67}}]}"}
{"input": "Shift left and then go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Take the black block and move it in the forward direction.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Shift the robot rightward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move arm to the down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the the robotic arm backward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Turn on suction cup and navigate right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift the robot arm to go forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Get the 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 the arm to (4347, -3464, 55).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 4347, \"y\": -3464, \"z\": 55}}]}"}
{"input": "Make the arm move to red block location", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move the robotic arm to coordinates (480, 320, -125).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 480, \"y\": 320, \"z\": -125}}]}"}
{"input": "Move the robotic arm forward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Go right then left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Switch on suction, navigate to position (222.89, 201.42, -56.71), move upward, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 222.89, \"y\": 201.42, \"z\": -56.71}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move the arm to yellow block position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Move to the up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move arm to right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift leftward and then descend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Navigate to where the yellow block is and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move robotic arm to right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Make the robotic arm move to the up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the robotic arm towards up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Go up first and then go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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 robot arm to go up direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move to (301.49, 129.57, -94.49)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 301.49, \"y\": 129.57, \"z\": -94.49}}]}"}
{"input": "Make the arm move to the down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move arm to up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Ascend, descend, move left, 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": "Travel to (263.47, 162.85, -53.17) and then turn right", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 263.47, \"y\": 162.85, \"z\": -53.17}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move the robotic arm 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": "Approach yellow block position, move left, and turn on the 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": "Move the robotic arm to coordinates (350, 220, -75).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 350, \"y\": 220, \"z\": -75}}]}"}
{"input": "Move in the right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Go up initially, then come back down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Make the robotic arm move to the forward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Get the robotic arm to move to yellow block position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Move towards the right and then towards the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Activate suction, go to (231.06, 226.17, -61.14), ascend, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 231.06, \"y\": 226.17, \"z\": -61.14}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move the arm to (854, 42, 59).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 854, \"y\": 42, \"z\": 59}}]}"}
{"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": "Move the robotic arm up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move the arm to (2099, -1198, 61).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 2099, \"y\": -1198, \"z\": 61}}]}"}
{"input": "Take hold of yellow block, go up, and then turn 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": "Go to (560.7, 460.4, 74.3), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 560.7, \"y\": 460.4, \"z\": 74.3}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"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": "Go right, move downwards, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to coordinate (999.18, 162.76, -211.33)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 999.18, \"y\": 162.76, \"z\": -211.33}}]}"}
{"input": "Move left and then navigate to (142.65, 198.34, -49.21)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 142.65, \"y\": 198.34, \"z\": -49.21}}]}"}
{"input": "Move arm to the forward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Make the robotic 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": "Set the white block over 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": "Go to white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Move down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Go right, move downwards, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift the the robotic arm to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"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 the robotic arm to the up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the 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": "Move to coordinate (470.39, 418.43, -115.45)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 470.39, \"y\": 418.43, \"z\": -115.45}}]}"}
{"input": "Go down and then activate the suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move to coordinate (428.67, 362.32, -98.56)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 428.67, \"y\": 362.32, \"z\": -98.56}}]}"}
{"input": "Ascend, descend, shift to the left, then shift to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Go left, then go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Go to (436.5, 355.5, 33.8), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 436.5, \"y\": 355.5, \"z\": 33.8}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Go left and then activate the suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Shift the robot to the forward direction direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move robotic arm to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Grasp the green block and push it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Disable suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Turn on suction cup and then go up", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move arm to right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move right and then navigate to (142.65, 198.34, -49.21)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 142.65, \"y\": 198.34, \"z\": -49.21}}]}"}
{"input": "Shift the robotic arm to go backward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Place the yellow block on top 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\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robot to go up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift to the forward and then shift towards the backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"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": "Move the arm to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Proceed to (428.0, 345.6, 30.4), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 428.0, \"y\": 345.6, \"z\": 30.4}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get to yellow block, turn left, switch on 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": "Ascend and then reach (297.18, 137.89, -49.08)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 297.18, \"y\": 137.89, \"z\": -49.08}}]}"}
{"input": "Grab the green block and move it backward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move the arm to (1865, -969, 59).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 1865, \"y\": -969, \"z\": 59}}]}"}
{"input": "Get the robot to the left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift to the left first, then move to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move robotic arm to the backward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Make the robot arm move to the forward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Shift the position of 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": "Shift the yellow block to 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": "Move to (521.50, 221.20, -109.42)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 521.5, \"y\": 221.2, \"z\": -109.42}}]}"}
{"input": "Switch on suction, move to position (227.48, 201.99, -56.68), ascend, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 227.48, \"y\": 201.99, \"z\": -56.68}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move yourself to the left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Head towards yellow block, 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": "Move right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move the robotic arm to coordinates (440, 310, -120).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 440, \"y\": 310, \"z\": -120}}]}"}
{"input": "Head to (228.09, 150.77, -53.93), shift right, switch off suction, then move down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 228.09, \"y\": 150.77, \"z\": -53.93}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robotic arm to the down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Slide 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": "Go up and then go to (279.62, 149.38, -50.92)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 279.62, \"y\": 149.38, \"z\": -50.92}}]}"}
{"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 the arm to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Take the pink block and move it in the forward direction.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Get the robot in the down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robot backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move the robotic arm to coordinates (410, 250, -90).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 410, \"y\": 250, \"z\": -90}}]}"}
{"input": "Move rightward and then head to (330.91, 112.86, -46.02)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 330.91, \"y\": 112.86, \"z\": -46.02}}]}"}
{"input": "Make the robot move to the backward direction direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Go to position towards the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Move rightward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Collect 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": "Move the robotic arm up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the robotic arm to go 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 coordinate (295.47, 183.64, -62.89)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 295.47, \"y\": 183.64, \"z\": -62.89}}]}"}
{"input": "Move towards the down direction 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": "Shift the the robotic arm to the backward direction 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 the arm to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move robotic arm to the backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Grab the red block and move it backward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Pick up the black block and moving it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Get the robot to go left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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": "Capture 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": "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": "Shift right, move downwards, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Travel up and then switch on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move the robot to the right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Get the arm towards the right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Make the violet block move forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Go to (279.62, 149.38, -50.92) and then ascend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 279.62, \"y\": 149.38, \"z\": -50.92}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move in the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Proceed to white block coordinates 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": "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": "Move up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Make the robot move to the backward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Head towards the position of the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Go right and then activate the suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move arm to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move you arms toward the coordinates of the yellow block.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Go to (342.49, 55.59, -44.36) and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 342.49, \"y\": 55.59, \"z\": -44.36}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move up and then move down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move the black block and advance its position forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Get the robot sideways to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Turn on suction cup and proceed to the right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Make the robot arm move 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 towards the yellow block's coordinates", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Get the robotic arm towards right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Get the the robotic arm to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move arm to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move the yellow block 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": "Get the arm to the left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get up and then go downwards", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Enable the suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"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": "Go to (469.4, 380.6, 43.9), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 469.4, \"y\": 380.6, \"z\": 43.9}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move to coordinate (387.40, 308.05, -85.15)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 387.4, \"y\": 308.05, \"z\": -85.15}}]}"}
{"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": "Travel to the yellow block, then shift to the 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": "Activate suction, move left, ascend, 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": "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": "Go right, move downwards, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move the robotic arm to coordinates (430, 270, -100).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 430, \"y\": 270, \"z\": -100}}]}"}
{"input": "Navigate to the yellow block location", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Turn on suction, travel to (208.51, 243.91, -65.48), go upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 208.51, \"y\": 243.91, \"z\": -65.48}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robotic arm towards the down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Proceed to where the yellow block is, then shift to the 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": "Go down initially, then come back up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move arm to the backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Place the yellow block to the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Proceed to (241.8, 192.9, -30.5), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 241.8, \"y\": 192.9, \"z\": -30.5}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Go down first and then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move the robotic arm to coordinates (340, 180, -62).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 340, \"y\": 180, \"z\": -62}}]}"}
{"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": "Proceed left and then travel to (242.81, 174.99, -55.73)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 242.81, \"y\": 174.99, \"z\": -55.73}}]}"}
{"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": "Ascend, take hold of white block, and deactivate 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": "Pick up the orange block and moving it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move the robotic arm right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Go to yellow block, move 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 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": "Move robotic arm to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move to (451.25, 291.00, -133.49)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 451.25, \"y\": 291.0, \"z\": -133.49}}]}"}
{"input": "Position the yellow block to the right side 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Turn on suction, travel to (198.24, 237.41, -65.13), go upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 198.24, \"y\": 237.41, \"z\": -65.13}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Navigate to white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Navigate to the left and then to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Position the yellow block on top of 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": "Move rightward, move downwards, then shift to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Make the robot move to the forward direction direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Turn on suction, reach coordinates (207.14, 233.08, -61.54), move upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 207.14, \"y\": 233.08, \"z\": -61.54}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"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": "Navigate to (142.65, 198.34, -49.21) and then proceed rightward", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 142.65, \"y\": 198.34, \"z\": -49.21}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Go to yellow block position and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Get the robot to go backward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Make the arm move to the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Move to (150, 250, -50), and then move the yellow block to coordinates (151, 251, -51)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 150, \"y\": 250, \"z\": -50}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 151, \"y\": 251, \"z\": -51}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move to (979.00, -231.40, 38.27)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 979.0, \"y\": -231.4, \"z\": 38.27}}]}"}
{"input": "Move to (323.94, 155.09, -107.79)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 323.94, \"y\": 155.09, \"z\": -107.79}}]}"}
{"input": "Move rightwards and then leftwards", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift right and then go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Make the robot move 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": "Shift left, move to white block, activate 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": "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": "Move to where the white block is placed", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Shift the robot to the right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Make the robot move to the left direction 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": "Make the robot move to the backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Ascend, take possession of white block, and deactivate 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": "Move towards the backward direction 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 arm to the left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get the robotic arm to the up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Turn on suction, travel to (237.06, 191.32, -63.12), go upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 237.06, \"y\": 191.32, \"z\": -63.12}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robotic arm to the up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Position the yellow block on top of 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": "Proceed to location where the white block is located.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Reach the yellow block's coordinates", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Navigate to where the white block is and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"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": "Start the suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"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": "Head to (212.84, 163.47, -52.55), shift right, deactivate suction, then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 212.84, \"y\": 163.47, \"z\": -52.55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move to the backward direction 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": "Get the blue block and shift it to the left.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move to (421.97, 259.34, -168.47)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 421.97, \"y\": 259.34, \"z\": -168.47}}]}"}
{"input": "Move to (209.56, 178.21, -56.92) and then shift towards the left", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 209.56, \"y\": 178.21, \"z\": -56.92}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Reach the position of the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Go to where the yellow block is", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Turn on the suction cup, move the yellow block to coordinates (300, 150, -50), then move the yellow block down.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 300, \"y\": 150, \"z\": -50}}]}"}
{"input": "Get the robot arm to go 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": "Move the robotic arm to coordinates (490, 330, -130).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 490, \"y\": 330, \"z\": -130}}]}"}
{"input": "Move the arm on the left of red block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Navigate to (240.0, 190.0, -30.0), turn left, and then turn off suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 240.0, \"y\": 190.0, \"z\": -30.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move to the forward 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 sideways to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Make the robotic arm move to the down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get to yellow block, go left, activate suction, and 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": "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": "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": "Place 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": "Move towards yellow block, shift to the left, and activate the 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": "Move robotic arm to down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Turn on suction cup and move down", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Make the robot move to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Head the arm to the position of the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Turn on suction cup and shift to the left", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Grab the pink block and move it backward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move arm to the 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": "Shift to the right first, then move to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"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": "Move to the left and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Enable the suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Make the robot arm move 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": "Start the suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move the arm to (429, 468, 63).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 429, \"y\": 468, \"z\": 63}}]}"}
{"input": "Shift the robotic arm to the forward 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 the arm to (2547, -1650, 53).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 2547, \"y\": -1650, \"z\": 53}}]}"}
{"input": "Go to (290.0, 240.0, -5.0), turn right, and then turn off suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 290.0, \"y\": 240.0, \"z\": -5.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Make the blue block forward of the blue block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Ascend and then head to (330.91, 112.86, -46.02)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 330.91, \"y\": 112.86, \"z\": -46.02}}]}"}
{"input": "Proceed to (213.2, 166.8, -41.7), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 213.2, \"y\": 166.8, \"z\": -41.7}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Go to (407.3, 328.0, 23.6), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 407.3, \"y\": 328.0, \"z\": 23.6}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the arm to 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": "Shift the robotic arm towards forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Get the robot moving down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move rightwards and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Rearrange the yellow block's position to be 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": "Reach (297.18, 137.89, -49.08) and then go rightward", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 297.18, \"y\": 137.89, \"z\": -49.08}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift the robot to go forward 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 robotic arm to the up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"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": "Switch the suction on.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Shift the robotic arm towards the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"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": "Get the the robotic arm down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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": "Position 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": "Shift the robot forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Make the arm go to right and then go to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get the robotic arm to go backward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move towards the forward and then towards the backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"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": "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 white block to the back 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\": \"backward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Proceed to (333.0, 268.4, 0.0), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 333.0, \"y\": 268.4, \"z\": 0.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move to the backward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"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": "Move the arm to (125, 771, 35).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 125, \"y\": 771, \"z\": 35}}]}"}
{"input": "Move arm to up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get 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": "Navigate to (296.31, 94.15, -47.47) and then turn on suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 296.31, \"y\": 94.15, \"z\": -47.47}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"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": "Capture 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": "Get the robotic arm to go forward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Get the robotic arm to go backward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Let the suction off.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"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": "Turn on suction, travel to coordinates (186.76, 203.95, -62.08), ascend, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 186.76, \"y\": 203.95, \"z\": -62.08}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robot in the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Get the robot moving right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Proceed the arm to the spot where the white block is located.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Lift the 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": "Move the robotic arm to coordinates (370, 240, -85).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 370, \"y\": 240, \"z\": -85}}]}"}
{"input": "Proceed the arm to the spot where the yellow block is located.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Move arm to backward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move the arm to (3443, -2560, 55).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 3443, \"y\": -2560, \"z\": 55}}]}"}
{"input": "Move to (345.67, 395.60, -170.28)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 345.67, \"y\": 395.6, \"z\": -170.28}}]}"}
{"input": "Go to (243.17, 140.32, -52.87) and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 243.17, \"y\": 140.32, \"z\": -52.87}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Get the robot to go 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": "Move the arm to (314, 582, 28).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 314, \"y\": 582, \"z\": 28}}]}"}
{"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": "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": "Turn on suction, shift left, rise, 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": "Proceed to (347.28, 99.77, -44.81) and then move downward", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 347.28, \"y\": 99.77, \"z\": -44.81}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Descend and then travel to (263.47, 162.85, -53.17)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 263.47, \"y\": 162.85, \"z\": -53.17}}]}"}
{"input": "Move the arm to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Head left and then switch on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move the robotic arm to coordinates (380, 250, -90).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 380, \"y\": 250, \"z\": -90}}]}"}
{"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": "Go rightward and then proceed to (297.18, 137.89, -49.08)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 297.18, \"y\": 137.89, \"z\": -49.08}}]}"}
{"input": "Move to the right and then move to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Set the white block atop 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": "Turn on suction cup and shift left", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Approach yellow block, shift left, turn on 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": "Use the suction cup to grab the orange block and move it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Go towards the left and then towards the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Align the yellow block to the right side 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Go over to white block position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Reach (205.96, 167.89, -52.01), go right, deactivate suction, then move down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 205.96, \"y\": 167.89, \"z\": -52.01}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Take the yellow block, go up, and then turn 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": "Turn off the suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Pick up the red block and moving it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Activate suction, proceed to location (214.38, 214.66, -55.87), go upwards, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 214.38, \"y\": 214.66, \"z\": -55.87}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move the arm to (2665, -1768, 66).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 2665, \"y\": -1768, \"z\": 66}}]}"}
{"input": "Move to (982.50, -345.60, 56.80)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 982.5, \"y\": -345.6, \"z\": 56.8}}]}"}
{"input": "Shift the the robotic arm right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift right and then move to (314.52, 125.73, -47.37)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 314.52, \"y\": 125.73, \"z\": -47.37}}]}"}
{"input": "Move rightward, go down, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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": "Get the robotic arm towards down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Grab orange block and shift it to the right.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Place 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": "Move to coordinate (445.75, 587.23, -218.55)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 445.75, \"y\": 587.23, \"z\": -218.55}}]}"}
{"input": "Make the robot move to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Get the robotic arm to the 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": "Move robotic arm to 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 leftward, go up, and then descend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Go to yellow block, move 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 robotic arm to the forward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"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": "Navigate to the right and then to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move rightward, move downwards, then shift to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Transfer the position of 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": "Navigate to (142.65, 198.34, -49.21) and then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 142.65, \"y\": 198.34, \"z\": -49.21}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Go left, then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"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": "Move to where the yellow block is, then move left 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": "Get the robot to go right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift the robot to the backward direction direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"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 the left and grab the green block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move to the forward and then move to the backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Get the arm to the down direction 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": "Make the arm move to pink block location", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Turn on suction cup and shift to the down direction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Grab the black block and bring it backward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Make the robot arm move to the forward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Proceed to (676.4, 556.3, 111.4), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 676.4, \"y\": 556.3, \"z\": 111.4}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Turn on suction cup and proceed to the up direction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the robot arm to go 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": "Direct the arm to white block coordinates", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Stop suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Make the robot arm move to the forward 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": "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": "Relocate the position of 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": "Make the robotic arm move to the up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move arm to the backward direction 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": "Arrange the yellow block to the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Grab the violet block and bring it backward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"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": "Make the robot move to the backward direction direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move downwards and then proceed to (242.81, 174.99, -55.73)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 242.81, \"y\": 174.99, \"z\": -55.73}}]}"}
{"input": "Make the robotic arm move 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 the robotic arm backward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Turn on suction cup and move leftwards", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get the the robotic arm backward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"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": "Navigate to the position of the yellow block and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Get the the robotic arm up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the robotic arm to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Securely 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": "Move down and then move up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Head to (330.91, 112.86, -46.02) and then go up", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 330.91, \"y\": 112.86, \"z\": -46.02}}, {\"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": "Make the robot arm move to the down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Go towards the backward and then towards the forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move arm to right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Navigate to (142.65, 198.34, -49.21) and then proceed leftward", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 142.65, \"y\": 198.34, \"z\": -49.21}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to the position of orange block and go forward", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Activate suction cup and then proceed to yellow block coordinates", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"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 arm to go backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Proceed to (614.3, 503.2, 91.2), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 614.3, \"y\": 503.2, \"z\": 91.2}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the the 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": "Get the arm to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move rightward, move downwards, then shift to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift towards the left and then rise", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the robotic arm to go forward 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 to coordinate (524.34, 495.39, -144.33)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 524.34, \"y\": 495.39, \"z\": -144.33}}]}"}
{"input": "Move sideways to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move the robotic arm to coordinates (380, 220, -75).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 380, \"y\": 220, \"z\": -75}}]}"}
{"input": "Move to the location of the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Let the suction cup off.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Direct the arm to the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Arrange the yellow block to the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the the robotic arm left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to (150, 250, -50), and then move the white block to coordinates (151, 251, -51)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 150, \"y\": 250, \"z\": -50}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 151, \"y\": 251, \"z\": -51}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move towards the left direction 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": "Proceed to (490.1, 398.2, 50.7), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 490.1, \"y\": 398.2, \"z\": 50.7}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Go to yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Move robotic arm to the forward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Make the robot move to 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": "Proceed to yellow block coordinates 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": "Shift leftwards and then go to (263.47, 162.85, -53.17)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 263.47, \"y\": 162.85, \"z\": -53.17}}]}"}
{"input": "Proceed to (193.72, 189.25, -50.92), go right, turn off suction, then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 193.72, \"y\": 189.25, \"z\": -50.92}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get 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 robot arm to go down direction 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": "Go to blue block location.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Ascend, take possession of white block, and deactivate 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": "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": "Proceed to (303.8, 242.8, -10.2), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 303.8, \"y\": 242.8, \"z\": -10.2}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the robot to the backward direction direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"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": "Get the the robotic arm 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": "Turn on the suction and navigate to the white block coordinates", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Reach yellow block, move 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": "Go to black block coordinate and move rightward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Shift the robot arm to go right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Take possession 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": "Go to the yellow block, move leftward, 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": "Go towards (197.07, 175.62, -51.44), shift right, turn off suction, then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 197.07, \"y\": 175.62, \"z\": -51.44}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robot sideways to the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Shift the yellow block forward 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": "Head to (330.91, 112.86, -46.02) and then go left", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 330.91, \"y\": 112.86, \"z\": -46.02}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move left, ascend, then descend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Activate suction, shift left, climb, 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": "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 (556.70, 186.40, -97.52)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 556.7, \"y\": 186.4, \"z\": -97.52}}]}"}
{"input": "Shift the robotic arm to go forward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Go left and then switch on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move upwards followed by a downward movement", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robot downward four ", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Go to (262.72, 125.79, -52.54) and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 262.72, \"y\": 125.79, \"z\": -52.54}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Make the robot arm move to yellow block position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Turn on suction cup and proceed left", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get the arm to 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 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": "Turn on 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": "Place the yellow block on the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Align the yellow block to the right side 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robotic arm to the forward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move towards the right direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"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": "Grab the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Turn on suction cup and navigate to the position of the yellow block", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"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": "Switch on suction, navigate to (176.39, 177.58, -57.92), move upward, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 176.39, \"y\": 177.58, \"z\": -57.92}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Arrange the yellow block to the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move the robot to the down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Make the arm move to black block location", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move the white block to the back 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\": \"backward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move the arm to (5373, -4490, 69).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 5373, \"y\": -4490, \"z\": 69}}]}"}
{"input": "Go down and then followed by go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move to (209.56, 178.21, -56.92) and then go downwards", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 209.56, \"y\": 178.21, \"z\": -56.92}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the robot to go left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift the the robotic arm to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Ascend, take possession of white block, and deactivate 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": "Shift right and then shift left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Go to where the yellow block located", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Move rightward, move downwards, then shift to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get to yellow block, turn left, switch on suction, then turn 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": "Take possession of yellow block, go up, and then turn 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": "Move to (226.87, 148.15, -54.03), go right, deactivate suction, then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 226.87, \"y\": 148.15, \"z\": -54.03}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the arm to the backward direction direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Turn on suction and navigate to where the yellow block is", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Get the robot to go 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": "Shift the white block behind 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\": \"backward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"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 robotic arm to go left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift the robot arm to go right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Reach yellow block, go left, activate 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": "Get 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": "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": "Move arm to the forward 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": "Activate suction and move towards the position of the yellow block", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Move arm to the down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the robot arm to go 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": "Switch suction cup on.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Set the white block on top 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\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the the robotic arm up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move the robotic arm to the backward direction 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": "Go to (374.4, 303.3, 13.5), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 374.4, \"y\": 303.3, \"z\": 13.5}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Approach (227.31, 144.21, -54.08), shift right, switch off suction, then shift down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 227.31, \"y\": 144.21, \"z\": -54.08}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Disable the suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robot to go forward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Head 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 arm to the up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move robotic arm to 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": "Move towards the backward and then towards the forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Go to (593.6, 485.5, 84.4), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 593.6, \"y\": 485.5, \"z\": 84.4}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Rearrange the yellow block to be positioned 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": "Shift the robot moving 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": "Go to blue block coordinate and move rightward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Head left then go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robot sideways to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the robot arm to go left direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Make the robot move to the right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Switch on suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move the arm to (965, -67, 37).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 965, \"y\": -67, \"z\": 37}}]}"}
{"input": "Move the robotic arm to coordinates (420, 260, -95).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 420, \"y\": 260, \"z\": -95}}]}"}
{"input": "Proceed to (269.72, 117.21, -50.19) and then turn on suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 269.72, \"y\": 117.21, \"z\": -50.19}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Approach yellow block, shift left, switch on 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": "Get the robot moving forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"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": "Hold yellow block, ascend, 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": "Move to the left and grab the orange block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Go towards the right and then towards the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift the the robotic arm to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Position the white block over 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 to (312.3, 250.1, -6.8), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 312.3, \"y\": 250.1, \"z\": -6.8}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move leftwards and then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Reach (206.87, 166.31, -52.19), go right, deactivate suction, then move down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 206.87, \"y\": 166.31, \"z\": -52.19}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move the arm to (2207, -1310, 55).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 2207, \"y\": -1310, \"z\": 55}}]}"}
{"input": "Turn on suction, travel to (201.38, 238.15, -64.89), go upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 201.38, \"y\": 238.15, \"z\": -64.89}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the arm to the right direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift the robot leftward four ", "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 robot downward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robot moving forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move to (416.10, 325.90, -145.66)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 416.1, \"y\": 325.9, \"z\": -145.66}}]}"}
{"input": "Shift the robotic arm 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": "Move the arm to (1186, -288, 53).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 1186, \"y\": -288, \"z\": 53}}]}"}
{"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": "Make the arm move to the forward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Proceed to (347.28, 99.77, -44.81) and then shift leftwards", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 347.28, \"y\": 99.77, \"z\": -44.81}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move the robotic arm to the 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": "Go up and then switch on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Go down and then go to (279.62, 149.38, -50.92)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 279.62, \"y\": 149.38, \"z\": -50.92}}]}"}
{"input": "Move the robotic arm to coordinates (280, 140, -50).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 280, \"y\": 140, \"z\": -50}}]}"}
{"input": "Get the robot arm to go down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Place the white block on top 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\": \"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": "Shift leftward and then ascend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Go to (279.62, 149.38, -50.92) and then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 279.62, \"y\": 149.38, \"z\": -50.92}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robot arm to go backward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Go leftward and then proceed to (297.18, 137.89, -49.08)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 297.18, \"y\": 137.89, \"z\": -49.08}}]}"}
{"input": "Get the robotic arm to go forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move the robotic arm backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move the robot to the up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the robot arm to go backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Navigate to the forward and then to the backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move robotic arm to left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Go to where the white block is located", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Move the robotic arm to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the robot arm to go left direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get hold of 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": "Go to the yellow block position, proceed 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": "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": "Head to (222.19, 185.73, -58.36) and then ascend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 222.19, \"y\": 185.73, \"z\": -58.36}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move to (310.0, 260.0, 5.0), go down, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 310.0, \"y\": 260.0, \"z\": 5.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Make the arm move to the backward direction 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": "Turn on suction, travel to (204.29, 240.71, -65.06), go upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 204.29, \"y\": 240.71, \"z\": -65.06}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the robot moving backward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Shift the robot in the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Shift the the robotic arm to the backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Shift the the robotic arm forward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Shift the the robotic arm to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"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": "Arrange the yellow block to the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move to (435.70, 273.51, -175.76)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 435.7, \"y\": 273.51, \"z\": -175.76}}]}"}
{"input": "Shift the 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": "Get the arm to the left direction 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": "Make the robot arm move to the up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the the robotic arm 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": "Switch off suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move robotic arm to backward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Navigate to (291.6, 235.0, -13.6), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 291.6, \"y\": 235.0, \"z\": -13.6}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move the robotic arm to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Navigate the arm to the location of the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Make the robot move to the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Rearrange the position of the yellow block so it's 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": "Travel to (263.47, 162.85, -53.17) and then turn left", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 263.47, \"y\": 162.85, \"z\": -53.17}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift the robot arm to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move the arm to white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Go to where the yellow block is positioned", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Shift the robot arm to go left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move towards forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Arrange the yellow block to the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robot backward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Go to (223.1, 175.5, -38.2), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 223.1, \"y\": 175.5, \"z\": -38.2}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Set the suction cup on.", "response": "{\"actions\": [{\"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": "Use the suction cup to grab the violet block and move it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Get the robot moving left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift the robot to go 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": "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 robotic arm move to the left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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": "Move to the left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get the robotic arm to go forward 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": "Shift 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 downwards and then reach (187.43, 167.82, -54.78)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 187.43, \"y\": 167.82, \"z\": -54.78}}]}"}
{"input": "Turn on the suction cup, move the white block to coordinates (300, 150, -50), then move the yellow block down.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 300, \"y\": 150, \"z\": -50}}]}"}
{"input": "Adjust the yellow block so it's positioned at 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": "Capture 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": "Shift the the robotic arm to the 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": "Go to position towards the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Get the robotic arm towards the left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Position the yellow block to the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the 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": "Turn on suction, shift left, rise, 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": "Turn on 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 coordinates (320, 150, -60).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 320, \"y\": 150, \"z\": -60}}]}"}
{"input": "Grab the pink block and bring it backward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Go to yellow block, turn left, activate suction, then turn 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": "Move to where the white block is and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Proceed to (271.9, 217.7, -20.3), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 271.9, \"y\": 217.7, \"z\": -20.3}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Make the arm move to the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Navigate to the position of the white block and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Get the robot sideways to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Position the yellow block at 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": "Go left, go to white block, switch 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 to coordinate (387.67, 621.09, -98.76)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 387.67, \"y\": 621.09, \"z\": -98.76}}]}"}
{"input": "Shift the robotic arm to go forward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Activate the suction cup and move to the white block position", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Stop suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Make the robotic arm to move to yellow block position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Shift the robotic arm to go left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move towards the down direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move the violet block and advance its position forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move to coordinate (397.77, 321.62, -87.48)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 397.77, \"y\": 321.62, \"z\": -87.48}}]}"}
{"input": "Get the robot arm to go forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Go lower down and then move up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Turn on suction and proceed to the coordinates of the white block", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Go to the location of the blue block and turn on suction.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move arm to down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robotic arm to the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Make the robotic 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": "Get the robot arm to go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move to (449.43, 287.68, -183.10)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 449.43, \"y\": 287.68, \"z\": -183.1}}]}"}
{"input": "Move the robotic arm to coordinates (700, 440, -100).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 700, \"y\": 440, \"z\": -100}}]}"}
{"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": "Move the arm towards the right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Position the white block behind 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\": \"backward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Activate the suction cup and move to the position of the white block", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Head towards the yellow block's position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Get the robot moving forward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move to (662.20, 81.70, -62.38)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 662.2, \"y\": 81.7, \"z\": -62.38}}]}"}
{"input": "Head to (210.84, 172.09, -52.18), shift right, deactivate suction, then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 210.84, \"y\": 172.09, \"z\": -52.18}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move down and then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move to (380.90, 360.80, -157.92)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 380.9, \"y\": 360.8, \"z\": -157.92}}]}"}
{"input": "Shift the robot arm to go left direction 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": "Move left, ascend, then descend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Turn on suction cup and then go right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move to coordinate (335.62, 240.16, -73.51)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 335.62, \"y\": 240.16, \"z\": -73.51}}]}"}
{"input": "Move rightward, go down, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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": "Activate suction, go to (235.17, 227.98, -62.09), ascend, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 235.17, \"y\": 227.98, \"z\": -62.09}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"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": "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": "Reach yellow block, move 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": "Move to (314.52, 125.73, -47.37) and then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 314.52, \"y\": 125.73, \"z\": -47.37}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move to (314.52, 125.73, -47.37) and then ascend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 314.52, \"y\": 125.73, \"z\": -47.37}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Make the arm move to the left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get the robot moving right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Navigate to (664.2, 548.5, 108.0), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 664.2, \"y\": 548.5, \"z\": 108.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Activate suction and then navigate to (235.17, 149.78, -55.29)", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 235.17, \"y\": 149.78, \"z\": -55.29}}]}"}
{"input": "Activate suction, proceed to location (203.76, 234.76, -61.61), go upwards, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 203.76, \"y\": 234.76, \"z\": -61.61}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Turn on suction, shift left, climb, 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": "Approach yellow block, turn left, turn on the suction, then turn 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": "Take possession of yellow block, go up, and then turn 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": "Make the robotic arm move to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Make the arm move to the up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move the arm towards the up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Go to white block position and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Shift the robotic arm to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Direct the robot arm to yellow block position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Turn on suction cup and navigate up", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Turn on suction cup and proceed right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Proceed left and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Get 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": "Move 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": "Proceed to (224.01, 155.98, -53.56), shift right, turn off suction, then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 224.01, \"y\": 155.98, \"z\": -53.56}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Head to (212.84, 163.47, -52.55), shift right, deactivate suction, then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 212.84, \"y\": 163.47, \"z\": -52.55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robot moving backward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Shift right and then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the robotic arm to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Head towards the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Move towards the left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to coordinate (325.37, 226.84, -70.96)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 325.37, \"y\": 226.84, \"z\": -70.96}}]}"}
{"input": "Reach yellow block, navigate 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": "Move the robotic arm to coordinates (330, 170, -70).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 330, \"y\": 170, \"z\": -70}}]}"}
{"input": "Move to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Reposition the yellow block forward 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": "Turn on suction cup and navigate left", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Go to (219.46, 157.84, -53.37), move right, turn off suction, then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 219.46, \"y\": 157.84, \"z\": -53.37}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move to the position of the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Ascend, take possession of white block, and deactivate 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": "Move the robotic arm right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Set suction cup on.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Adjust 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": "Take hold of yellow block, go up, and then turn 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": "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": "Adjust the position of the yellow block 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": "Proceed to (250.0, 200.0, -25.0), turn right, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 250.0, \"y\": 200.0, \"z\": -25.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move right and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Use the suction cup to grab the pink block and move it 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": "Shift the robotic arm towards down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move arm to 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 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": "Move to (210.53,22.86,-50.41)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 210.53, \"y\": 22.86, \"z\": -50.41}}]}"}
{"input": "Shift the robotic arm to go left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Turn on suction cup and then go to the white block coordinates", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Move left then descend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move robotic arm to the left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to coordinate (315.91, 212.53, -68.57)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 315.91, \"y\": 212.53, \"z\": -68.57}}]}"}
{"input": "Switch on suction, move to position (234.38, 214.07, -58.33), ascend, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 234.38, \"y\": 214.07, \"z\": -58.33}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move to (209.56, 178.21, -56.92) and then go upwards", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 209.56, \"y\": 178.21, \"z\": -56.92}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the robotic arm to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Turn on suction, go left, go up, 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 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": "Navigate to (350.0, 300.0, 25.0), go down, and then turn off suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 350.0, \"y\": 300.0, \"z\": 25.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Activate the suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Switch on suction, move to position (228.42, 204.71, -57.92), ascend, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 228.42, \"y\": 204.71, \"z\": -57.92}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move towards the left and then towards the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move to coordinate (514.15, 480.54, -138.11)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 514.15, \"y\": 480.54, \"z\": -138.11}}]}"}
{"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": "Go to (345.2, 275.8, 3.4), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 345.2, \"y\": 275.8, \"z\": 3.4}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move the arm to the spot where the yellow block is located.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Make the robotic arm move to the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Go right, go down, go left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to coordinate (503.96, 465.01, -131.89)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 503.96, \"y\": 465.01, \"z\": -131.89}}]}"}
{"input": "Head towards the location of the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Shift the robot 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": "Proceed to the white block's position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"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": "Move upwards and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move 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": "Make the arm move 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": "Head right and then elevate upwards", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move the robotic arm to coordinates (410, 280, -105).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 410, \"y\": 280, \"z\": -105}}]}"}
{"input": "Make the arm move to the right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Navigate to yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Move the arm on the left of orange block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Secure 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": "Start suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Shift the robot to go right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Stack the yellow block onto 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\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the robotic arm to the right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move the arm to (3219, -2335, 61).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 3219, \"y\": -2335, \"z\": 61}}]}"}
{"input": "Get the robot backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Make the arm move to violet block location", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move robotic arm to up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Lower the robotic arm", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move leftwards and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Switch the suction cup off.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the robotic arm to go down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Relocate the yellow block to be 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": "Move the robotic arm to coordinates (400, 240, -85).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 400, \"y\": 240, \"z\": -85}}]}"}
{"input": "Switch on suction, move to position (236.18, 217.97, -58.65), ascend, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 236.18, \"y\": 217.97, \"z\": -58.65}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Make the robot move to the right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Turn on suction cup and shift to the up direction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Approach (226.21, 145.21, -54.18), shift right, switch off suction, then shift down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 226.21, \"y\": 145.21, \"z\": -54.18}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move the arm to (1078, -180, 45).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 1078, \"y\": -180, \"z\": 45}}]}"}
{"input": "Shift the robotic arm to go 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 the robotic arm left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Turn on suction, shift left, rise, 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": "Get the robot to go 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": "Shift the robotic arm to the 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": "Go towards (197.07, 175.62, -51.44), shift right, turn off suction, then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 197.07, \"y\": 175.62, \"z\": -51.44}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the the robotic arm forward 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": "Turn on suction and proceed to (248.44, 137.32, -53.87)", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 248.44, \"y\": 137.32, \"z\": -53.87}}]}"}
{"input": "Take the orange block and move it in the forward direction.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Navigate to (263.4, 209.4, -23.7), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 263.4, \"y\": 209.4, \"z\": -23.7}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Grab blue block and shift it to the right.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Shift the arm towards the right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Proceed to yellow block position, go 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": "Move in the left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move the robotic arm to coordinates (310, 180, -55).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 310, \"y\": 180, \"z\": -55}}]}"}
{"input": "Activate suction, proceed to location (199.68, 230.54, -61.25), go upwards, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 199.68, \"y\": 230.54, \"z\": -61.25}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move to (209.56, 178.21, -56.92) and then shift towards the right", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 209.56, \"y\": 178.21, \"z\": -56.92}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Head the arm to the area containing the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"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": "Activate suction, go to (221.32, 231.32, -62.09), ascend, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 221.32, \"y\": 231.32, \"z\": -62.09}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robot rightward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"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": "Grasp the blue block and push it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Go right, move downwards, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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": "Let the suction on.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Get the robot arm to go down direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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": "Position the white block atop 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": "Shift the robotic arm towards the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Grab red block and shift it to the right.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move towards the forward 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": "Activate suction, shift left, climb, 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": "Travel down and then switch on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Reach (205.96, 167.89, -52.01), go right, deactivate suction, then move down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 205.96, \"y\": 167.89, \"z\": -52.01}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move right then ascend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Proceed to the location of the yellow block, then move left, 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": "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": "Make the arm move to the down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the arm to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get down and then go upwards", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Grab the orange block and move it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Reach (205.96, 167.89, -52.01), go right, deactivate suction, then move down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 205.96, \"y\": 167.89, \"z\": -52.01}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move to (240.60, 133.48, -54.85), shift right, deactivate suction, then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 240.6, \"y\": 133.48, \"z\": -54.85}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move to the left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Go towards (197.97, 174.62, -51.50), shift right, turn off suction, then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 197.97, \"y\": 174.62, \"z\": -51.5}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move arm to the left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Grab pink block and shift it to the right.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Go right and then move down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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": "Make the robot move to the down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move the robotic arm to the forward 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": "Reach yellow block, proceed 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": "Turn on suction, shift left, rise, 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": "Shift the robotic arm to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Travel to the white block's position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Direct the arm to white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Go to 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": "Move the robotic arm down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robotic arm to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move the arm backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Direct the arm 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 forward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Shift the robot sideways to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Go to the white block's position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Move backward and then forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Go right, move downwards, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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 orange block and shift it to the left.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Make the pink block forward of the green block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Make the arm move to the backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"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": "Get the the robotic arm right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift the the 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": "Ascend, take possession of white block, and deactivate 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": "Move the arm to (4689, -3806, 56).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 4689, \"y\": -3806, \"z\": 56}}]}"}
{"input": "Get 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 left, move to 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": "Go up, then descend, go 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 right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Head toward the position of the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Go left, go to white block, switch 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": "Pick up the yellow block, move upwards, and then turn 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": "Make the robot move to the backward direction direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Disable the suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Pick up the violet block and moving it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Go to (498.6, 408.1, 54.0), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 498.6, \"y\": 408.1, \"z\": 54.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Go to (214.58, 156.49, -53.17), move right, turn off the suction, then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 214.58, \"y\": 156.49, \"z\": -53.17}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Navigate to (540.0, 442.7, 67.5), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 540.0, \"y\": 442.7, \"z\": 67.5}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Turn on suction cup and move rightwards", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Make the red block forward of the green block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Get the the robotic arm to the right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Stack the yellow block over 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": "Place the arm to the white block location", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Get the the robotic arm to the 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": "Place the yellow block on the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move robotic arm to the right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Go to the location of the violet block and turn on suction.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Reach yellow block, move left, turn on suction, and 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": "Shift the robotic arm to the left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move rightward, move downwards, then shift to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Approach (227.41, 144.19, -54.07), shift right, switch off suction, then shift down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 227.41, \"y\": 144.19, \"z\": -54.07}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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": "Direct the arm to yellow block position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Get the the robotic arm up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the robot moving left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Approach yellow block, go left, turn on 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": "Go to yellow block, move left, turn on the suction, and 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": "Move the robotic arm to coordinates (600, 400, -120).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 600, \"y\": 400, \"z\": -120}}]}"}
{"input": "Shift the robot to go 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": "Turn on suction cup and proceed to go down", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the robot moving left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift the robotic arm to the down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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": "Go left, go to white block, switch 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": "Switch on suction, move to position (237.65, 216.78, -58.5), ascend, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 237.65, \"y\": 216.78, \"z\": -58.5}}, {\"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": "Navigate to (697.1, 573.9, 118.2), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 697.1, \"y\": 573.9, \"z\": 118.2}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robot arm to go forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move the robotic arm to coordinates (300, 170, -58).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 300, \"y\": 170, \"z\": -58}}]}"}
{"input": "Get to yellow block, go left, switch on 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": "Rearrange the yellow block's position to 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": "Navigate to (206.7, 158.4, -46.3), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 206.7, \"y\": 158.4, \"z\": -46.3}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Go to (684.9, 566.2, 114.8), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 684.9, \"y\": 566.2, \"z\": 114.8}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Place the arm to the yellow block location", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Turn on suction, move to (205.84, 189.27, -60.15), go up, and turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 205.84, \"y\": 189.27, \"z\": -60.15}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift down and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Shift the robot to go backward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Get 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": "Turn on suction cup and head left", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to the left, ascend, then descend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Turn on suction, shift left, rise, 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": "Position the white block over 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": "Make the arm move to blue block location", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move the robotic arm to the backward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Position the yellow block atop 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\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"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": "Activate suction and then proceed to the yellow block position", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Shift the robot to go 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": "Go backward then forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Grab green block and shift it to the right.", "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": "Shift the robot to go backward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Approach yellow block, shift left, switch on 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": "Get the arm to the down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Transfer 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": "Go to (340.0, 290.0, 20.0), go up, and then turn off suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 340.0, \"y\": 290.0, \"z\": 20.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robot in the up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move towards the down direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Approach yellow block, turn left, turn on the suction, then turn 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": "Move the robotic arm to coordinates (650, 420, -110).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 650, \"y\": 420, \"z\": -110}}]}"}
{"input": "Shift left and then proceed to (209.56, 178.21, -56.92)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 209.56, \"y\": 178.21, \"z\": -56.92}}]}"}
{"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": "Activate the suction cup and move to the yellow block position", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Shift the robot arm to go left direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to (627.00, 116.60, -74.00)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 627.0, \"y\": 116.6, \"z\": -74.0}}]}"}
{"input": "Get the robotic arm towards the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Go to red block location.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Rearrange the position of the yellow block to 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": "Make the robot arm move to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move the robotic arm to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift the robotic arm to go down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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 orange block move forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"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": "Activate suction, shift left, climb, 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 up and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Navigate to (510.8, 415.5, 57.4), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 510.8, \"y\": 415.5, \"z\": 57.4}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Turn on suction cup and head up", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Make the robot move to the forward direction direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Make the robot 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": "Move rightward, go down, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move the robotic arm to coordinates (800, 480, -80).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 800, \"y\": 480, \"z\": -80}}]}"}
{"input": "Move yourself to the right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Get the robotic arm to the backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Get the robot moving 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": "Proceed to (229.91, 151.78, -54.29) and then activate suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 229.91, \"y\": 151.78, \"z\": -54.29}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Go left, go to white block, switch 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 to coordinate (637.48, 485.32, -326.89)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 637.48, \"y\": 485.32, \"z\": -326.89}}]}"}
{"input": "Make the robotic arm move to the 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": "Move to yellow block position and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Shift the robotic arm to the up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move 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": "Rearrange the position of the yellow block so it's 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": "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": "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": "Move to coordinate (349.67, 672.98, -189.33)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 349.67, \"y\": 672.98, \"z\": -189.33}}]}"}
{"input": "Move towards the right and then towards the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move 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 arm to down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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": "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": "Shift the robot moving 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": "Move left, move to white block, activate 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": "Proceed downwards and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Get the robot moving forward 3 times", "response": "{\"actions\": [{\"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": "Rearrange 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 the robotic arm to coordinates (350, 190, -68).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 350, \"y\": 190, \"z\": -68}}]}"}
{"input": "Move towards the right direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Slide 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": "Proceed to the position of the white block 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": "Get the robotic arm to the forward 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": "Head right then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the the robotic arm to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move in the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Go to (205.31, 178.52, -49.73), move right, turn off suction, then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 205.31, \"y\": 178.52, \"z\": -49.73}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Proceed to (519.3, 425.4, 60.8), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 519.3, \"y\": 425.4, \"z\": 60.8}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Turn on 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": "Align the yellow block to the right side 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"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 backward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move to (396.52, 230.67, -153.81)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 396.52, \"y\": 230.67, \"z\": -153.81}}]}"}
{"input": "Move the arm to (627, 270, 51).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 627, \"y\": 270, \"z\": 51}}]}"}
{"input": "Get the robot arm to go forward 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": "Make the robotic arm move to the backward direction 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 the arm to the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Shift up and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Set the suction off.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Pick up the green block and moving it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Direct the arm to the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Shift the robotic arm to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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": "Get the robotic arm to go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robot sideways to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"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": "Get the robotic arm to go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Navigate to yellow block, move left, and activate the 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 the suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move arm to up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move robotic arm to the 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": "Direct the robot arm to white block position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Go to where the yellow block is.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Activate suction, shift left, ascend, 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": "Get the robotic arm to go backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Rearrange the position of the yellow block so it's at 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": "Rearrange the yellow block's position so it's 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": "Activate suction, move left, ascend, 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": "Get the robot arm to go 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": "Shift the robot arm to go down direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Navigate to (477.9, 390.4, 47.3), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 477.9, \"y\": 390.4, \"z\": 47.3}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"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": "Go left, go to white block, switch 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": "Go to (283.01, 105.68, -48.82) and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 283.01, \"y\": 105.68, \"z\": -48.82}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move the orange block and advance its position forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Get the the robotic arm up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Arrange 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": "Position the white block so it's situated behind 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\": \"backward\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift to the left and then shift towards the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move arm to 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": "Shift the robotic arm to the backward direction 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": "Shift 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": "Get the robot rightward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift the the robotic arm to the left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get the robotic arm towards backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Get the arm to the up direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Proceed to (242.81, 174.99, -55.73) and then move down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 242.81, \"y\": 174.99, \"z\": -55.73}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the robot moving down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the arm towards the up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move the robotic arm right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Go left, go to white block, switch 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": "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": "Go to the white block position and then activate suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Navigate to the yellow block position 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": "Move towards the backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move the robotic arm to coordinates (450, 320, -150).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 450, \"y\": 320, \"z\": -150}}]}"}
{"input": "Move towards the white block's coordinates", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"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": "Navigate to the coordinates of the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Move to (503.35, 344.21, -212.54)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 503.35, \"y\": 344.21, \"z\": -212.54}}]}"}
{"input": "Get the robot arm to go right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Set the yellow block over 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\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move to (488.62, 330.08, -205.14)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 488.62, \"y\": 330.08, \"z\": -205.14}}]}"}
{"input": "Get the robot moving up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the the robotic arm forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Get 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 robotic arm to go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Go left, go up, go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Use the suction cup to grab the green block and move it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Shift to the forward first, then move to the backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Go to the yellow block's position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Move rightward, go down, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to (233.53, 143.16, -54.27), go right, deactivate suction, then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 233.53, \"y\": 143.16, \"z\": -54.27}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robot moving right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move the robotic arm down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Make the robotic arm move to the backward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "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": "Turn on suction, shift left, climb, 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 the 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": "Move the robotic arm up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the robot arm to go down direction 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": "Navigate the arm to the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"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": "Make the robot move to the right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move arm to forward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move to (312.16, 142.81, -100.64)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 312.16, \"y\": 142.81, \"z\": -100.64}}]}"}
{"input": "Rearrange the position of the yellow block so it's 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": "Switch suction on.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move the robotic arm to coordinates (320, 190, -60).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 320, \"y\": 190, \"z\": -60}}]}"}
{"input": "Get the robot sideways to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move robotic arm to up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Secure 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": "Position the yellow block so that 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": "Move to (242.56, 130.22, -54.91), shift right, deactivate suction, then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 242.56, \"y\": 130.22, \"z\": -54.91}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Activate suction, proceed to location (206.33, 237.45, -62.04), go upwards, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 206.33, \"y\": 237.45, \"z\": -62.04}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move towards the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"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": "Proceed to (235.72, 139.25, -54.45), go right, turn off the suction, then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 235.72, \"y\": 139.25, \"z\": -54.45}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move the robotic arm to coordinates (250, 100, -55).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 250, \"y\": 100, \"z\": -55}}]}"}
{"input": "Grab the orange block and bring it backward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Make the robotic arm move to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift the robot arm to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Descend and then head to (222.19, 185.73, -58.36)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 222.19, \"y\": 185.73, \"z\": -58.36}}]}"}
{"input": "Go right, move downwards, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get the robot moving 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": "Navigate to yellow block location, shift left, then 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": "Move the green block and advance its position forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Place 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": "Move to (314.52, 125.73, -47.37) and then shift towards the right", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 314.52, \"y\": 125.73, \"z\": -47.37}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move towards backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Get the the robotic arm to the up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Let suction cup on.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Go up and then go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Proceed to (705.6, 583.8, 121.5), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 705.6, \"y\": 583.8, \"z\": 121.5}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Reach yellow block, 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": "Approach (227.41, 144.19, -54.07), shift right, switch off suction, then shift down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 227.41, \"y\": 144.19, \"z\": -54.07}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Proceed to where the yellow block is, then shift to the 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 right, move downwards, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move 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": "Make the arm move to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"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": "Get the robot arm to go backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Shift forward and then shift backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"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": "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": "Move the arm to white block coordinates", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Move sideways to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get the robot arm to go down direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Head to (222.19, 185.73, -58.36) and then go right", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 222.19, \"y\": 185.73, \"z\": -58.36}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move forward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robotic arm to go forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Turn suction cup on.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Shift left and then move to (314.52, 125.73, -47.37)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 314.52, \"y\": 125.73, \"z\": -47.37}}]}"}
{"input": "Get the robotic arm to the backward direction 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 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 left and then shift right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift the robot leftward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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": "Turn suction off.", "response": "{\"actions\": [{\"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": "Move towards the right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move leftwards and then rightwards", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Get the robotic arm to go left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift the arm towards the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Shift the robotic arm towards backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move arm to left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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": "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": "Switch off the suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move the arm to (543, 354, 47).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 543, \"y\": 354, \"z\": 47}}]}"}
{"input": "Shift the arm to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Make the robot arm move to the right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift the robot arm to go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move left, reach white block, activate 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": "Get the robot arm to go left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to the 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": "Go up, then descend, go 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": "Go to pink block coordinate and move rightward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Make 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": "Turn on suction cup and proceed to go up", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the robotic arm to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move rightward and then head to (222.19, 185.73, -58.36)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 222.19, \"y\": 185.73, \"z\": -58.36}}]}"}
{"input": "Activate suction, move left, ascend, 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": "Get the robot arm to go backward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Deactivate suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robot arm to go up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the 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": "Move to the forward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move to (200.0, 150.0, -50.0), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 200.0, \"y\": 150.0, \"z\": -50.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move the robotic arm down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Switch on suction, navigate to position (217.99, 221.52, -58.87), move upward, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 217.99, \"y\": 221.52, \"z\": -58.87}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move towards the left and then towards the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift the the robotic arm to the right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move forward 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": "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 backward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"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": "Get the robot arm to go 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": "Move robotic arm to backward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Switch on suction, move to position (230.08, 208.97, -57.92), ascend, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 230.08, \"y\": 208.97, \"z\": -57.92}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robot backward four ", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Get the robotic arm to go forward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move 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": "Navigate toward the position of the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Ascend and then travel to (263.47, 162.85, -53.17)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 263.47, \"y\": 162.85, \"z\": -53.17}}]}"}
{"input": "Head towards the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Grab black block and shift it to the right.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Shift the robotic arm to the backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Make the robotic 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": "Get the robot arm to the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Shift right, move downwards, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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": "Shift the robot moving forward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Turn on suction, reach coordinates (247.76, 240.93, -64.93), move upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 247.76, \"y\": 240.93, \"z\": -64.93}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Head over to the yellow block's position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"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 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": "Descend and then reach (297.18, 137.89, -49.08)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 297.18, \"y\": 137.89, \"z\": -49.08}}]}"}
{"input": "Approach yellow block, move left, and turn on the 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": "Move the yellow block forward 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": "Get the robotic arm to the forward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Take the green block and move it in the forward direction.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Get the arm to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Make the robot move to the left direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to coordinate (955.62, 178.49, -201.23)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 955.62, \"y\": 178.49, \"z\": -201.23}}]}"}
{"input": "Get to yellow block, shift 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": "Direct the arm to yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Shift the robotic arm to go backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Activate suction, shift left, climb, 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": "Get the robotic arm to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the arm to the forward direction direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Place the arm to wheren the yellow block is located", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"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": "Set the yellow block on top of 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": "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": "Shift the robotic arm to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move the robotic arm to the left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move the robotic arm to coordinates (370, 210, -70).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 370, \"y\": 210, \"z\": -70}}]}"}
{"input": "Go up, then descend, go 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": "Turn on suction, shift left, climb, 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": "Get the robot to the forward direction direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move to the up and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Turn on suction cup and proceed to the down direction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move upward, then downward, go left, and finally 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 arm to the up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the robot arm to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the robotic arm to the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Reach yellow block, move 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": "Shift the robot moving forward 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": "Rearrange the yellow block to be 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": "Head towards the yellow block, shift left, and turn on the 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 the arm to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Make the arm move to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Shift the robot arm to go forward 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 the robotic arm forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move arm to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Make the arm move to yellow block position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Go to where the yellow block is located", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Move down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Go towards yellow block, move to the left, turn on the suction, and 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": "Get the robotic arm to go 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, ascend, then descend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move to the position of red block and go forward", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move towards the left direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to coordinate (569.81, 513.75, -278.92)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 569.81, \"y\": 513.75, \"z\": -278.92}}]}"}
{"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": "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": "Move to (383.79, 218.54, -146.57)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 383.79, \"y\": 218.54, \"z\": -146.57}}]}"}
{"input": "Grab the blue block and bring it backward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Position the yellow block to the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"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": "Set suction cup off.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robot moving left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Navigate to (315.84, 78.63, -47.1) and then activate suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 315.84, \"y\": 78.63, \"z\": -47.1}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Shift the robot to go left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Climb up and then go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Place the arm to wheren the white block is located", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Position the yellow block so it's 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": "Move to the yellow block coordinates 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": "Get the robot upward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Pick up the pink block and moving it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Shift the robot to go backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Get the robot arm to go 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": "Proceed to the right and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Go up and then activate the suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Make the robot arm move to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift the robot to go forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Turn on suction and then move to yellow block", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Reach (204.96, 167.99, -52.05), go right, deactivate suction, then move down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 204.96, \"y\": 167.99, \"z\": -52.05}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Navigate to (448.7, 363.3, 37.2), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 448.7, \"y\": 363.3, \"z\": 37.2}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Direct the arm to yellow block coordinates", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Shift the robot forward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Shift the robot moving backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move robotic arm to left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Go towards yellow block, turn left, turn on suction, then turn 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": "Go to red block coordinate and move rightward.", "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": "Go up, then descend, go 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 arm to the up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move to the left and grab the black block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move right and then reach (279.62, 149.38, -50.92)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 279.62, \"y\": 149.38, \"z\": -50.92}}]}"}
{"input": "Get the robot arm to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Navigate to (210.0, 160.0, -45.0), turn right, and then turn off suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 210.0, \"y\": 160.0, \"z\": -45.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift 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": "Get the robot to go right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Go up and then proceed to (209.56, 178.21, -56.92)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 209.56, \"y\": 178.21, \"z\": -56.92}}]}"}
{"input": "Turn on suction, shift left, climb, 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 the robotic arm to coordinates (450, 290, -110).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 450, \"y\": 290, \"z\": -110}}]}"}
{"input": "Move the robotic arm to coordinates (310, 160, -65).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 310, \"y\": 160, \"z\": -65}}]}"}
{"input": "Make the robotic arm move to the backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Navigate to (256.44, 128.79, -51.54) and then activate suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 256.44, \"y\": 128.79, \"z\": -51.54}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Grab the red block and move it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Shift the the robotic arm to the down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Turn on suction, reach coordinates (238.22, 232.55, -64.35), move upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 238.22, \"y\": 232.55, \"z\": -64.35}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Activate suction, go to (187.29, 224.71, -53.02), ascend, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 187.29, \"y\": 224.71, \"z\": -53.02}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"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": "Move the robotic arm to the right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Proceed leftward followed by an upward elevation", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move to the position of violet block and go forward", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move towards the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Switch on suction, move to the left, move upwards, 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": "Move to coordinate (932.34, 224.67, -153.98)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 932.34, \"y\": 224.67, \"z\": -153.98}}]}"}
{"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": "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": "Go to (251.2, 201.6, -27.1), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 251.2, \"y\": 201.6, \"z\": -27.1}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the robot to go left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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": "Go to the location of the red block and turn on suction.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Shift the arm to the up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the robotic arm to go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the robot to go down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move the robotic arm to coordinates (390, 230, -80).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 390, \"y\": 230, \"z\": -80}}]}"}
{"input": "Make the robot 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": "Move the arm to (3557, -2674, 67).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 3557, \"y\": -2674, \"z\": 67}}]}"}
{"input": "Make the robot move to the left direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift rightward and then ascend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move leftward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move arm to forward 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 towards the up direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"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": "Activate suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Proceed to the white block's coordinates", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"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": "Move to coordinate (742.11, 359.87, -209.45)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 742.11, \"y\": 359.87, \"z\": -209.45}}]}"}
{"input": "Proceed rightward followed by an upward elevation", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the robot moving forward 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": "Make the arm move to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Proceed to (280.0, 230.0, -10.0), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 280.0, \"y\": 230.0, \"z\": -10.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move yourself to the backward direction direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Shift left and then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Go to green block and move it backward", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Shift the robotic arm to the right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move up and then go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift towards the right and then rise", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Go to (283.1, 225.1, -16.9), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 283.1, \"y\": 225.1, \"z\": -16.9}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move to white block position and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Make the robotic arm move to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"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": "Move the arm to (1745, -851, 44).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 1745, \"y\": -851, \"z\": 44}}]}"}
{"input": "Shift the the robotic arm to the right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Get the the robotic arm to the right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"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": "Navigate to (635.0, 520.9, 97.9), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 635.0, \"y\": 520.9, \"z\": 97.9}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move towards the backward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Ascend, capture white block, and deactivate 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": "Activate suction and move towards the position of the white block", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Grab the blue block and move it backward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Ascend, take hold of white block, and deactivate 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": "Move 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 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": "Get the robot arm to go up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Make the arm move to white block position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Go left and then move down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robot moving down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move leftwards and then go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Make the robot arm move to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Deactivate suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the robot in the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Approach (227.68, 143.56, -54.07), shift right, switch off suction, then shift down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 227.68, \"y\": 143.56, \"z\": -54.07}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move the arm to (3669, -2786, 49).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 3669, \"y\": -2786, \"z\": 49}}]}"}
{"input": "Navigate to the backward and then to the forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"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 (336.27, 59.59, -43.36) and then activate suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 336.27, \"y\": 59.59, \"z\": -43.36}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"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 to (890.75, -401.25, 60.30)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 890.75, \"y\": -401.25, \"z\": 60.3}}]}"}
{"input": "Go right, then go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Go to the location of the orange block and turn on suction.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Get the robot arm to go right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Go to (279.62, 149.38, -50.92) and then proceed right", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 279.62, \"y\": 149.38, \"z\": -50.92}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Turn on suction cup and go to the right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move to the position of green block and go forward", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Get the robotic arm to go left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Make the robot move to the up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Switch suction off.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Proceed to (236.28, 136.75, -54.66), go right, turn off the suction, then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 236.28, \"y\": 136.75, \"z\": -54.66}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move to (1020.33, -265.71, 50.19)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 1020.33, \"y\": -265.71, \"z\": 50.19}}]}"}
{"input": "Make the red block move forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Place the yellow block on the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Turn on the suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Get the arm towards the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Shift the robot arm to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift the robot arm to go backward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Ascend, then descend, move left, and finally 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 to yellow block, go left, turn on 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 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": "Grab the pink block and move it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move robotic arm to forward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move the arm on the left of black block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move the robotic arm to coordinates (360, 200, -72).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 360, \"y\": 200, \"z\": -72}}]}"}
{"input": "Get the arm to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Rearrange 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": "Move rightward, move downwards, then shift to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move the yellow block to 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": "Get the the robotic arm forward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Get the robot in the up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"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 backward and then shift forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Reach (297.18, 137.89, -49.08) and then move downwards", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 297.18, \"y\": 137.89, \"z\": -49.08}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Rearrange 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": "Switch on suction, move to position (233.13, 212.48, -58.18), ascend, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 233.13, \"y\": 212.48, \"z\": -58.18}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the arm towards the down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Elevate downwards and then move upwards", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Ascend, take hold of white block, and deactivate 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": "Make the green block move forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move robotic arm to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Make the robot move to the 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": "Move to (359.26, 192.93, -132.24)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 359.26, \"y\": 192.93, \"z\": -132.24}}]}"}
{"input": "Set the white block on top 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\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Turn on suction, reach coordinates (241.35, 234.12, -64.47), move upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 241.35, \"y\": 234.12, \"z\": -64.47}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Go towards the forward and then towards the backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Go to the right and then proceed to (347.28, 99.77, -44.81)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 347.28, \"y\": 99.77, \"z\": -44.81}}]}"}
{"input": "Go left, go to white block, switch 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 to (238, 657, 49).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 238, \"y\": 657, \"z\": 49}}]}"}
{"input": "Make the robot move to the right direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Make the robotic arm move to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move the robotic arm 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 to (838.20, -91.80, -5.63)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 838.2, \"y\": -91.8, \"z\": -5.63}}]}"}
{"input": "Move 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 to (302.52, 90.15, -48.47) and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 302.52, \"y\": 90.15, \"z\": -48.47}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Make the robot move to the backward direction direction 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 the arm to (2993, -2108, 67).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 2993, \"y\": -2108, \"z\": 67}}]}"}
{"input": "Move the arm to (2318, -1421, 64).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 2318, \"y\": -1421, \"z\": 64}}]}"}
{"input": "Travel to (263.47, 162.85, -53.17) and then go upward", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 263.47, \"y\": 162.85, \"z\": -53.17}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Make the black block move forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Proceed to (234.80, 138.70, -54.43), go right, turn off the suction, then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 234.8, \"y\": 138.7, \"z\": -54.43}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Switch suction cup off.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robot arm to the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Go to orange block and move it backward", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move the robotic arm to coordinates (470, 310, -120).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 470, \"y\": 310, \"z\": -120}}]}"}
{"input": "Adjust the position of the yellow block so it's 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": "Move to coordinate (984.56, 143.69, -228.75)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 984.56, \"y\": 143.69, \"z\": -228.75}}]}"}
{"input": "Rise up and then lower down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move the arm to (5259, -4376, 56).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 5259, \"y\": -4376, \"z\": 56}}]}"}
{"input": "Shift the robot arm to go down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move leftward and then head to (330.91, 112.86, -46.02)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 330.91, \"y\": 112.86, \"z\": -46.02}}]}"}
{"input": "Shift the robotic arm to go 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": "Head toward the position of the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Switch on suction, navigate to position (221.91, 204.38, -57.25), move upward, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 221.91, \"y\": 204.38, \"z\": -57.25}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Go to the coordinates of the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Switch on suction.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Get the robot in the left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Approach the yellow block, shift to the left, and activate the 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": "Go downwards and then come upwards", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the arm to the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"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": "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 robotic arm to go right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move downwards and then proceed to (347.28, 99.77, -44.81)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 347.28, \"y\": 99.77, \"z\": -44.81}}]}"}
{"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": "Shift the 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": "Get to yellow block, go left, turn on 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": "Get the 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": "Move the arm to (2776, -1880, 49).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 2776, \"y\": -1880, \"z\": 49}}]}"}
{"input": "Go to the left and then reach (187.43, 167.82, -54.78)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 187.43, \"y\": 167.82, \"z\": -54.78}}]}"}
{"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 to the position of the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Move the arm to (4007, -3124, 49).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 4007, \"y\": -3124, \"z\": 49}}]}"}
{"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": "Move towards down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the arm to the left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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": "Go to orange block location.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Shift the robotic arm to the right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift the the robotic arm left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to (873.40, -126.70, 5.45)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 873.4, \"y\": -126.7, \"z\": 5.45}}]}"}
{"input": "Proceed to the yellow block, move left, and turn on the 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": "Grab the black block and move it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"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": "Grab the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move the arm to white block position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Go to the right and then reach (187.43, 167.82, -54.78)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 187.43, \"y\": 167.82, \"z\": -54.78}}]}"}
{"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": "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": "Position the yellow block over 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": "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": "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": "Move to coordinate (305.65, 198.27, -65.34)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 305.65, \"y\": 198.27, \"z\": -65.34}}]}"}
{"input": "Shift the robot to go down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the the robotic arm backward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Activate suction cup and go to the position of the yellow block", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Get the the robotic arm backward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Go towards yellow block, turn left, turn on 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": "Ascend and then head to (222.19, 185.73, -58.36)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 222.19, \"y\": 185.73, \"z\": -58.36}}]}"}
{"input": "Move to the right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move the arm to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Turn on suction, shift left, climb, 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": "Shift the arm to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the arm to the backward direction direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Make the robot move to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the the robotic arm down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move to coordinate (481.58, 433.95, -120.35)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 481.58, \"y\": 433.95, \"z\": -120.35}}]}"}
{"input": "Shift the robot arm to go right direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Ascend, descend, go left, 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": "Use the suction cup to grab the red block and move it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Grab yellow block, move up, and then 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": "Move the robotic arm to move to yellow block position", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Reach yellow block, go left, turn on 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": "Move to coordinate (285.21, 169.03, -60.12)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 285.21, \"y\": 169.03, \"z\": -60.12}}]}"}
{"input": "Go up, then descend, move left, and finally 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 (409.24, 244.82, -161.19)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 409.24, \"y\": 244.82, \"z\": -161.19}}]}"}
{"input": "Go to (279.62, 149.38, -50.92) and then proceed left", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 279.62, \"y\": 149.38, \"z\": -50.92}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move the robotic arm to coordinates (400, 270, -100).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 400, \"y\": 270, \"z\": -100}}]}"}
{"input": "Go to where the white block is.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"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": "Move the robotic arm to coordinates (350, 280, -170).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 350, \"y\": 280, \"z\": -170}}]}"}
{"input": "Shift the robot arm to go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to the down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the arm to the down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the robot arm to position towards the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Shift the the robotic arm to the forward 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": "Position the yellow block 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": "Shift the robotic arm to go 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": "Go up, then descend, go 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": "Shift the robotic arm to the backward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Shift the the robotic arm to the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Transfer 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": "Head left and then elevate upwards", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Set the white block over 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": "Move the robotic arm to coordinates (500, 340, -135).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 500, \"y\": 340, \"z\": -135}}]}"}
{"input": "Go to the location of the pink block and turn on suction.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move to the up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move to (290.81, 115.92, -88.33)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 290.81, \"y\": 115.92, \"z\": -88.33}}]}"}
{"input": "Navigate to (231.6, 185.3, -34.8), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 231.6, \"y\": 185.3, \"z\": -34.8}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move towards yellow block, shift to the left, and activate the 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": "Navigate right and then go downwards", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the arm to the right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Proceed to (238.76, 136.24, -54.55), go right, turn off suction, then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 238.76, \"y\": 136.24, \"z\": -54.55}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move the robotic arm to coordinates (275, 120, -55).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 275, \"y\": 120, \"z\": -55}}]}"}
{"input": "Shift the robot to go left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to (310.20, 430.50, -182.75)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 310.2, \"y\": 430.5, \"z\": -182.75}}]}"}
{"input": "Get the pink block and shift it to the left.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Get 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": "Go up, then go down, move left, and finally right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Align the yellow block to the right side 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move to (240.60, 133.48, -54.85), shift right, deactivate suction, then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 240.6, \"y\": 133.48, \"z\": -54.85}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Proceed to where the white block is situated", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"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": "Turn on suction cup and go to the up direction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Activate suction, proceed to location (205.92, 235.11, -61.78), go upwards, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 205.92, \"y\": 235.11, \"z\": -61.78}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robot arm to go left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get the the robotic arm to the forward 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": "Get the robot to the right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Proceed to the yellow block's coordinates", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"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": "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": "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": "Move rightward, move downwards, 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 arm to go 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": "Go to yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Move left and then reach (279.62, 149.38, -50.92)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 279.62, \"y\": 149.38, \"z\": -50.92}}]}"}
{"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 right, move downwards, then leftward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Position the yellow block to the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Turn on suction cup and travel to the down direction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Reach (205.96, 167.89, -52.01), go right, deactivate suction, then move down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 205.96, \"y\": 167.89, \"z\": -52.01}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move to (241.50, 133.68, -54.78), shift right, deactivate suction, then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 241.5, \"y\": 133.68, \"z\": -54.78}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move the arm to (3893, -3010, 68).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 3893, \"y\": -3010, \"z\": 68}}]}"}
{"input": "Move the robotic arm to coordinates (460, 300, -115).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 460, \"y\": 300, \"z\": -115}}]}"}
{"input": "Shift the robot moving right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift the robot in the left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Switch on suction, move to position (247.81, 176.92, -59.67), ascend, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 247.81, \"y\": 176.92, \"z\": -59.67}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Make the robot move 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": "Set the yellow block on top 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\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robot to go 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": "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": "Move the robotic arm left 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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 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": "Shift the robotic arm to the 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": "Shift the arm to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Proceed to (234.90, 139.14, -54.49), go right, turn off the suction, then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 234.9, \"y\": 139.14, \"z\": -54.49}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move arm to backward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Go left, go to 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": "Move the robotic arm to the backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Go to yellow block, move 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": "Make the arm move to the forward 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": "Make the black block forward of the black block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Go left then right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift the 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": "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 robot arm to go 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 the arm to (4461, -3578, 67).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 4461, \"y\": -3578, \"z\": 67}}]}"}
{"input": "Acquire yellow block, go up, and then turn 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": "Elevate the robotic arm", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Activate suction, proceed to location (195.23, 222.78, -59.57), go upwards, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 195.23, \"y\": 222.78, \"z\": -59.57}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move towards the forward and then towards the backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"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": "Shift the robotic arm to the backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move the robotic arm to the up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Proceed to (643.5, 530.8, 101.3), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 643.5, \"y\": 530.8, \"z\": 101.3}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Grab the green block and bring it backward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Go to the yellow block position, move 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": "Turn on suction, travel to (214.37, 242.82, -65.52), ascend, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 214.37, \"y\": 242.82, \"z\": -65.52}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Turn on suction cup and proceed to the left", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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": "Make the robotic arm move to the right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Make the robotic arm move to the forward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Shift the robot arm to go forward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Get the the robotic arm to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Turn on suction, reach coordinates (240.91, 231.77, -64.81), move upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 240.91, \"y\": 231.77, \"z\": -64.81}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move robotic arm 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": "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": "Arrange 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": "Navigate toward the position of the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Get the the robotic arm to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move to coordinate (275.88, 153.42, -58.76)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 275.88, \"y\": 153.42, \"z\": -58.76}}]}"}
{"input": "Move the yellow block to the right 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Go up, then descend, go 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": "Move the robotic arm to coordinates (550, 380, -130).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 550, \"y\": 380, \"z\": -130}}]}"}
{"input": "Move to coordinate (473.67, 576.84, -231.67)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 473.67, \"y\": 576.84, \"z\": -231.67}}]}"}
{"input": "Navigate to the position of the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Turn on suction cup and then go to the yellow block coordinates", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Set the yellow block atop 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\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Make the robot move to the down direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Make the robot arm move to the down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Head the arm to the position of the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Shift the robot moving backward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Get the arm to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the robot arm to go forward 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": "Go 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": "Go to (230.0, 180.0, -35.0), go down, and then turn off suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 230.0, \"y\": 180.0, \"z\": -35.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move robotic arm to right twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move towards the position of the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Go to violet block location.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move the arm to (745, 151, 42).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 745, \"y\": 151, \"z\": 42}}]}"}
{"input": "Shift the robotic arm to go up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Make the robot move to the up direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Grab the green block and move it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Get to yellow block, shift left, switch on 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": "Move in the up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Head the arm to the area with the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Move to the right and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"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": "Shift the robotic arm to the up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the the robotic arm to the left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Make the robot arm move 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 the robotic arm right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move the robot to the left direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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 the down and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move the red block and advance its position forward.", "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": "Move the robotic arm up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the robotic arm towards up direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Navigate to the position of the white block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Shift the robot upward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the violet block and shift it to the left.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Activate suction cup.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Get the robot moving up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Get the robot moving down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robotic arm towards the right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Proceed to (552.2, 450.5, 70.9), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 552.2, \"y\": 450.5, \"z\": 70.9}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Make the robot arm move to the backward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Move to (241.50, 133.68, -54.78), shift right, deactivate suction, then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 241.5, \"y\": 133.68, \"z\": -54.78}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the the robotic arm to the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Shift the robotic arm to the right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Turn on suction cup and head right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Go up, then descend, go 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": "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": "Proceed to (395.1, 320.6, 20.3), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 395.1, \"y\": 320.6, \"z\": 20.3}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Make the robot move to 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": "Shift the robot downward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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": "Move to coordinate (527.14, 502.37, -209.33)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 527.14, \"y\": 502.37, \"z\": -209.33}}]}"}
{"input": "Turn on suction cup and travel to the right", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Get the robot arm to go up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Elevate upwards and then move downwards", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Make the arm go to backward and then go to the forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move to (270.53, 89.27, -75.68)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 270.53, \"y\": 89.27, \"z\": -75.68}}]}"}
{"input": "Go leftward and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Go to (717.8, 591.6, 124.9), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 717.8, \"y\": 591.6, \"z\": 124.9}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift right, move downwards, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move the robotic arm to coordinates (360, 230, -80).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 360, \"y\": 230, \"z\": -80}}]}"}
{"input": "Reposition 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": "Go down and then proceed to (209.56, 178.21, -56.92)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 209.56, \"y\": 178.21, \"z\": -56.92}}]}"}
{"input": "Move to the down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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 the the robotic arm forward 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": "Get the robot arm to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Proceed to (365.9, 293.4, 10.1), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 365.9, \"y\": 293.4, \"z\": 10.1}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the robotic arm to go up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move forward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move in the down direction", "response": "{\"actions\": [{\"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": "Turn suction on.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move the arm towards the down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Make the robot move to the down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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": "Activate suction, go to (223.79, 228.67, -61.22), ascend, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 223.79, \"y\": 228.67, \"z\": -61.22}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Let suction off.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"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": "Shift the robotic arm to go right", "response": "{\"actions\": [{\"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": "Move downward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Approach yellow block, go left, turn on 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": "Move the arm to yellow block coordinates", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Go to yellow block location, go left, 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": "Position the yellow block so it's 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 then ascend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Turn on suction, reach coordinates (242.17, 219.64, -64.29), move upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 242.17, \"y\": 219.64, \"z\": -64.29}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move upward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Go left, go 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": "Move to coordinate (377.04, 294.48, -82.82)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 377.04, \"y\": 294.48, \"z\": -82.82}}]}"}
{"input": "Get 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": "Get the robot to go forward 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": "Secure 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 right and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"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": "Move to (240.70, 132.19, -54.83), shift right, deactivate suction, then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 240.7, \"y\": 132.19, \"z\": -54.83}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Place the yellow block to the right side 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\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move to coordinate (893.25, 278.56, -182.98)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 893.25, \"y\": 278.56, \"z\": -182.98}}]}"}
{"input": "Move yourself to the down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robot moving up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Go upward and then turn on suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Secure 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": "Make the robot move to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move to the left, and then right, and then up, and then down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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": "Travel to yellow block position, then move to the 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": "Move to coordinate (372.84, 654.29, -178.73)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 372.84, \"y\": 654.29, \"z\": -178.73}}]}"}
{"input": "Move leftward and then head to (222.19, 185.73, -58.36)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 222.19, \"y\": 185.73, \"z\": -58.36}}]}"}
{"input": "Move rightward, go down, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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": "Switch on suction, navigate to position (221.79, 224.35, -58.77), move upward, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 221.79, \"y\": 224.35, \"z\": -58.77}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Move to (908.60, -161.60, 16.40)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 908.6, \"y\": -161.6, \"z\": 16.4}}]}"}
{"input": "Move towards the forward direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Shift the robot arm to go backward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Make the green block forward of the green block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Set the suction on.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move towards the backward and then towards the forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move robotic arm to down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move the robotic arm to coordinates (290, 130, -52).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 290, \"y\": 130, \"z\": -52}}]}"}
{"input": "Move to coordinate (449.02, 389.41, -106.78)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 449.02, \"y\": 389.41, \"z\": -106.78}}]}"}
{"input": "Reach yellow block, move 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": "Slide 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": "Navigate to the position of the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Move towards the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"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": "Go right, move downwards, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Proceed upwards and then activate suction cup", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move the robotic arm to coordinates (340, 210, -70).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 340, \"y\": 210, \"z\": -70}}]}"}
{"input": "Move yourself to the forward direction direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move to (732.60, 11.90, -39.41)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 732.6, \"y\": 11.9, \"z\": -39.41}}]}"}
{"input": "Shift the the robotic arm to the backward direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Navigate to (217.56, 163.45, -55.86) and then turn on suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 217.56, \"y\": 163.45, \"z\": -55.86}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"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": "Shift the robot arm to go up 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Go to black block and move it backward", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move to coordinate (366.69, 280.91, -80.49)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 366.69, \"y\": 280.91, \"z\": -80.49}}]}"}
{"input": "Reach (209.78, 165.26, -52.33), go right, deactivate suction, then move down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 209.78, \"y\": 165.26, \"z\": -52.33}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Position 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": "Travel to (263.47, 162.85, -53.17) and then go downward", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 263.47, \"y\": 162.85, \"z\": -53.17}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get to yellow block, go left, turn on 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": "Approach (227.31, 144.21, -54.08), shift right, switch off suction, then shift down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 227.31, \"y\": 144.21, \"z\": -54.08}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Proceed to (347.28, 99.77, -44.81) and then move upward", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 347.28, \"y\": 99.77, \"z\": -44.81}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move towards the left direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift the robotic arm towards right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Get the robot moving 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": "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": "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": "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 (250.86, 63.19, -61.23)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 250.86, \"y\": 63.19, \"z\": -61.23}}]}"}
{"input": "Shift the robotic arm to the right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Switch the suction cup on.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Get the robot arm to go forward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Set the yellow block on top 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\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the arm towards the down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Place the yellow block at 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": "Switch on suction, move to position (219.71, 236.42, -63.09), ascend, then switch off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 219.71, \"y\": 236.42, \"z\": -63.09}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the robot arm to go up", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Make the robot move to the down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"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": "Move robotic arm to forward 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Get the robot moving right 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Head to the yellow block, then go 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": "Make the 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": "Activate suction and then proceed to the white block position", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Reach (187.43, 167.82, -54.78) and then move down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 187.43, \"y\": 167.82, \"z\": -54.78}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Turn on suction cup and head down", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Head to (330.91, 112.86, -46.02) and then go right", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 330.91, \"y\": 112.86, \"z\": -46.02}}, {\"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": "Get the arm to the forward direction direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Move to yellow block, 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": "Make the robot move to the left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move the arm to yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Shift the robot arm to go 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": "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": "Move left, ascend, then descend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Take the violet block and move it in the forward direction.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Shift the robot arm to go backward direction 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": "Shift the robot arm to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get 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 the arm to (4803, -3920, 68).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 4803, \"y\": -3920, \"z\": 68}}]}"}
{"input": "Shift the the robotic arm backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"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": "Adjust the position of 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 (243.42, 129.61, -54.88), shift right, deactivate suction, then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 243.42, \"y\": 129.61, \"z\": -54.88}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"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": "Get the arm to the down direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Grasp the red block and push it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move the arm to (5031, -4148, 63).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 5031, \"y\": -4148, \"z\": 63}}]}"}
{"input": "Get the the robotic arm to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Shift the robot sideways to the backward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Activate suction, proceed to location (192.72, 229.45, -61.07), go upwards, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 192.72, \"y\": 229.45, \"z\": -61.07}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Go to red block and move it backward", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Go to where the white block is positioned", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 266.05, \"y\": 8.32, \"z\": -53.46}}]}"}
{"input": "Proceed to (234.90, 139.14, -54.49), go right, turn off the suction, then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 234.9, \"y\": 139.14, \"z\": -54.49}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Get the robot to go down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robotic arm 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": "Shift the robot forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Navigate to (386.6, 310.7, 16.9), turn left, and then turn off suction cup", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 386.6, \"y\": 310.7, \"z\": 16.9}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Turn on suction cup and go to the left", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Make the arm go to forward and then go to the backward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}]}"}
{"input": "Turn on suction cup and go to the down direction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift to the backward first, then move to the forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"backward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Position the yellow block 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": "Take the red block and move it in the forward direction.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Navigate to (355.82, 44.07, -42.99) and then turn on suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 355.82, \"y\": 44.07, \"z\": -42.99}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move to (347.48, 179.65, -124.09)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 347.48, \"y\": 179.65, \"z\": -124.09}}]}"}
{"input": "Shift the robotic arm to go down twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Direct the arm to the area containing the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Move the robotic arm forward twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Set suction on.", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}]}"}
{"input": "Move arm to 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": "Move to (220.36, 15.72, -48.05)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 220.36, \"y\": 15.72, \"z\": -48.05}}]}"}
{"input": "Grab the orange block and move it backward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"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": "Make the arm move to yellow block position ", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Get the arm to the left direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Move the arm to (5487, -4604, 49).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 5487, \"y\": -4604, \"z\": 49}}]}"}
{"input": "Move left, ascend, then descend", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Use the suction cup to grab the black block and move it forward.", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Proceed to location where the yellow block is located.", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Proceed to (235.72, 139.25, -54.45), go right, turn off the suction, then go down", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 235.72, \"y\": 139.25, \"z\": -54.45}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move 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": "Go to (260.0, 210.0, -20.0), go up, and then turn off suction", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 260.0, \"y\": 210.0, \"z\": -20.0}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Activate suction, shift left, ascend, 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 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": "Position the arm to yellow block coordinates", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Ascend and then move to (142.65, 198.34, -49.21)", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 142.65, \"y\": 198.34, \"z\": -49.21}}]}"}
{"input": "Move robotic arm to left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Head right then go down", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Make the robot move 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 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": "Go to the position of the yellow block", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 249.62, \"y\": 137.63, \"z\": -55}}]}"}
{"input": "Reach (187.43, 167.82, -54.78) and then turn right", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 187.43, \"y\": 167.82, \"z\": -54.78}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Get the robot arm to go left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"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": "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": "Move to the left and grab the pink block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Move the arm to (1987, -1087, 47).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 1987, \"y\": -1087, \"z\": 47}}]}"}
{"input": "Get the robot to go up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the yellow block to be 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": "Move towards right direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Proceed to (242.81, 174.99, -55.73) and then move up", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 242.81, \"y\": 174.99, \"z\": -55.73}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Move to (314.52, 125.73, -47.37) and then shift towards the left", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 314.52, \"y\": 125.73, \"z\": -47.37}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Shift the robot in the down direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move to coordinate (408.13, 335.19, -90.81)", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 408.13, \"y\": 335.19, \"z\": -90.81}}]}"}
{"input": "Turn on suction, reach coordinates (243.43, 236.32, -64.64), move upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 243.43, \"y\": 236.32, \"z\": -64.64}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Get the robot sideways to the forward direction", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Make the robot move to the right direction 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Get the robot moving up twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Turn on suction, travel to (210.82, 235.41, -64.07), go upwards, then turn off suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 210.82, \"y\": 235.41, \"z\": -64.07}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the the robotic arm down 3 times", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Shift the robotic arm to the backward direction 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": "Shift the robot arm to go right direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Shift the robot to go left twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}
{"input": "Get 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": "Shift the robotic arm to the forward 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": "Go towards (197.07, 175.62, -51.44), shift right, turn off suction, then descend", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 197.07, \"y\": 175.62, \"z\": -51.44}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Ascend, take hold of white block, and deactivate 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": "Move 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": "Align 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": "Activate suction, proceed to location (224.59, 195.37, -58.43), go upwards, then deactivate suction", "response": "{\"actions\": [{\"command\": \"suction_cup\", \"parameters\": {\"action\": \"on\"}}, {\"command\": \"move_to\", \"parameters\": {\"x\": 224.59, \"y\": 195.37, \"z\": -58.43}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}, {\"command\": \"suction_cup\", \"parameters\": {\"action\": \"off\"}}]}"}
{"input": "Shift the the robotic arm right", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}]}"}
{"input": "Move the arm to (3330, -2447, 48).", "response": "{\"actions\": [{\"command\": \"move_to\", \"parameters\": {\"x\": 3330, \"y\": -2447, \"z\": 48}}]}"}
{"input": "Move to the left and grab the red block", "response": "{\"actions\": [{\"command\": \"err_msg\", \"parameters\": {\"msg\": \"cannot generate plan using current condition\"}}]}"}
{"input": "Get the robot to go forward", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"forward\"}}]}"}
{"input": "Navigate left and then go upwards", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"up\"}}]}"}
{"input": "Shift the robot arm to go down direction twice", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Proceed rightward followed by an downward elevation", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}]}"}
{"input": "Move rightward, go down, then proceed to the left", "response": "{\"actions\": [{\"command\": \"move\", \"parameters\": {\"direction\": \"right\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"down\"}}, {\"command\": \"move\", \"parameters\": {\"direction\": \"left\"}}]}"}