input
stringlengths 9
111
| response
stringlengths 69
351
|
|---|---|
Move arm to the left four times | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Get the robot to go up | {"actions": [{"command": "move", "parameters": {"direction": "up"}}]} |
Switch off the suction. | {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}]} |
Turn suction cup off. | {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}]} |
Get the robotic arm towards the forward direction | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]} |
Get the arm to the backward direction direction four times | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Rearrange the position of the yellow block so it's at the back of the white block. | {"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"}}]} |
Get the black block and shift it to the left. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Get the arm towards the left direction | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Go down and then go up | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Travel right and then switch on suction cup | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Get the arm to the right direction | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Move robotic arm to down four times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Move to the backward direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Proceed to the coordinates of the yellow block | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Switch off suction cup. | {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}]} |
Head to yellow block position, move left, and activate suction | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Seize yellow block, ascend, and switch off suction | {"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"}}]} |
Make the blue block move forward. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Reach yellow block, shift left, activate suction, then move right | {"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"}}]} |
Move sideways to the right | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Get the robotic arm to go up twice | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Get the robot arm to the down | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Approach (232.15, 143.91, -54.17), shift right, switch off suction, then shift down | {"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"}}]} |
Get the robotic arm towards the down direction | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Take hold of the yellow block, move upwards, and deactivate suction cup | {"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"}}]} |
Go right, then go down | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Descend and then head to (330.91, 112.86, -46.02) | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move_to", "parameters": {"x": 330.91, "y": 112.86, "z": -46.02}}]} |
Go right and then switch on suction cup | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Move to coordinate (621.98, 449.83, -317.12) | {"actions": [{"command": "move_to", "parameters": {"x": 621.98, "y": 449.83, "z": -317.12}}]} |
Shift the robotic arm to the down | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Transfer the white block to the right side of the yellow block. | {"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"}}]} |
Move the robotic arm to the forward direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Set the suction cup off. | {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}]} |
Activate suction and then navigate to where the white block is | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Shift right and then proceed to (209.56, 178.21, -56.92) | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move_to", "parameters": {"x": 209.56, "y": 178.21, "z": -56.92}}]} |
Shift the the robotic arm backward four times | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Ascend, take possession of white block, and deactivate suction | {"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"}}]} |
Shift to the backward and then shift towards the forward | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Go right and then move up | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Shift the robotic arm to the up 3 times | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Move to coordinate (695.29, 472.45, -282.98) | {"actions": [{"command": "move_to", "parameters": {"x": 695.29, "y": 472.45, "z": -282.98}}]} |
Adjust the yellow block to be in front of the white block. | {"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"}}]} |
Shift towards the left and then rise | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Capture yellow block, move upwards, and deactivate suction cup | {"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"}}]} |
Move robotic arm to the left | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Move to the backward and then move to the forward | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Obtain yellow block, ascend upwards, and turn off suction cup | {"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"}}]} |
Activate suction, shift left, climb, then shift right | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Proceed right and then activate suction cup | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Reach yellow block, shift left, activate suction, then shift right | {"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"}}]} |
Move arm to left | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Position the yellow block to the right of the white block. | {"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"}}]} |
Activate suction, move to the left, rise, then move right | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Arrange the yellow block to the right of the white block. | {"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"}}]} |
Move robotic arm to the forward direction four times | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Activate suction, shift left, rise, then shift right | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Relocate the white block to the right of the yellow block. | {"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"}}]} |
Move the arm to (2432, -1535, 48). | {"actions": [{"command": "move_to", "parameters": {"x": 2432, "y": -1535, "z": 48}}]} |
Stack the white block over the yellow block. | {"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"}}]} |
Move backward 3 times | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Reach yellow block, go left, activate suction, then move right | {"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"}}]} |
Go to the left, go up, and then descend | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Go forward then backward | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Move the white block to the left, and then to the right. | {"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"}}]} |
Move left, reach white block, switch on suction, then go up | {"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"}}]} |
Shift rightwards and then go to (263.47, 162.85, -53.17) | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move_to", "parameters": {"x": 263.47, "y": 162.85, "z": -53.17}}]} |
Navigate to (320.0, 270.0, 10.0), turn left, and then turn off suction | {"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"}}]} |
Head to (214.30, 160.60, -52.68), shift right, switch off suction, then shift down | {"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"}}]} |
Move the arm to (3781, -2898, 55). | {"actions": [{"command": "move_to", "parameters": {"x": 3781, "y": -2898, "z": 55}}]} |
Move robotic arm to the down twice | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Get the the robotic arm to the backward direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Navigate left and then go downwards | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Shift the white block to the right of the yellow block. | {"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"}}]} |
Move to (223.88, 151.33, -53.78), go right, deactivate suction, then go down | {"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"}}]} |
Move upward, then downward, shift left, and finally shift right | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Place the yellow block on the right of the white block. | {"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"}}]} |
Get the robotic arm to go right twice | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Proceed to yellow block location, then shift left, and turn on suction | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Move arm to forward 3 times | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Shift the robot moving left 3 times | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Get the arm towards the backward direction | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Move left | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Move to (591.90, 151.50, -85.71) | {"actions": [{"command": "move_to", "parameters": {"x": 591.9, "y": 151.5, "z": -85.71}}]} |
Move backward | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Make the robotic arm move to the up four times | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Go left, go to white block, activate suction, then go up | {"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"}}]} |
Shift the robot arm to go backward direction | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Shift the robot to go right | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Get to yellow block, go left, switch on suction, then go right | {"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"}}]} |
Move the arm towards the forward direction | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]} |
Get the robotic arm to the right four times | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Shift the robot leftward | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Make the robot move to the down direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Move arm to the up | {"actions": [{"command": "move", "parameters": {"direction": "up"}}]} |
Head right and then switch on suction cup | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Make the robot arm move to the backward direction twice | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Position the white block on top of the yellow one. | {"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"}}]} |
Shift the robot arm to go backward direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Turn on the suction cup. | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}]} |