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Proceed to (224.01, 155.98, -53.56), shift right, turn off suction, then descend | {"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"}}]} |
Head to (212.84, 163.47, -52.55), shift right, deactivate suction, then descend | {"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"}}]} |
Shift the robot moving backward twice | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Shift right and then go up | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Get the robotic arm to the right | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Head towards the yellow block | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Move towards the left direction | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Move to coordinate (325.37, 226.84, -70.96) | {"actions": [{"command": "move_to", "parameters": {"x": 325.37, "y": 226.84, "z": -70.96}}]} |
Reach yellow block, navigate 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"}}]} |
Move the robotic arm to coordinates (330, 170, -70). | {"actions": [{"command": "move_to", "parameters": {"x": 330, "y": 170, "z": -70}}]} |
Move to the up | {"actions": [{"command": "move", "parameters": {"direction": "up"}}]} |
Reposition the yellow block forward 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"}}]} |
Turn on suction cup and navigate left | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Go to (219.46, 157.84, -53.37), move right, turn off suction, then go down | {"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"}}]} |
Move to the position of the yellow block | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
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"}}]} |
Move the robotic arm right | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Set suction cup on. | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}]} |
Adjust the position of the yellow block 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"}}]} |
Take hold of yellow block, go up, and then turn 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"}}]} |
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"}}]} |
Adjust the position of the yellow block so it's behind 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"}}]} |
Proceed to (250.0, 200.0, -25.0), turn right, and then turn off suction cup | {"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"}}]} |
Move right and then turn on suction cup | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Use the suction cup to grab the pink block and move it forward. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Activate suction, go left, ascend, then go right | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Shift the robotic arm towards down direction | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Move arm to right four times | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Move rightward, descend, then shift to the left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move to (210.53,22.86,-50.41) | {"actions": [{"command": "move_to", "parameters": {"x": 210.53, "y": 22.86, "z": -50.41}}]} |
Shift the robotic arm to go left twice | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move to the right | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Turn on suction cup and then go to the white block coordinates | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Move left then descend | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Move robotic arm to the left twice | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move to coordinate (315.91, 212.53, -68.57) | {"actions": [{"command": "move_to", "parameters": {"x": 315.91, "y": 212.53, "z": -68.57}}]} |
Switch on suction, move to position (234.38, 214.07, -58.33), ascend, then switch off suction | {"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"}}]} |
Move to (209.56, 178.21, -56.92) and then go upwards | {"actions": [{"command": "move_to", "parameters": {"x": 209.56, "y": 178.21, "z": -56.92}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Shift the robotic arm to the right | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Turn on suction, go left, go up, go right | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Shift left, move to white block, turn 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"}}]} |
Navigate to (350.0, 300.0, 25.0), go down, and then turn off suction | {"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"}}]} |
Activate the suction cup. | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}]} |
Switch on suction, move to position (228.42, 204.71, -57.92), ascend, then switch off suction | {"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"}}]} |
Move towards the left and then towards the right | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Move to coordinate (514.15, 480.54, -138.11) | {"actions": [{"command": "move_to", "parameters": {"x": 514.15, "y": 480.54, "z": -138.11}}]} |
Rearrange the yellow block's position to the rear 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"}}]} |
Go to (345.2, 275.8, 3.4), turn left, and then turn off suction cup | {"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"}}]} |
Move the arm to the spot where the yellow block is located. | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Make the robotic arm move to the forward direction | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]} |
Go right, go down, go left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move to coordinate (503.96, 465.01, -131.89) | {"actions": [{"command": "move_to", "parameters": {"x": 503.96, "y": 465.01, "z": -131.89}}]} |
Head towards the location of the yellow block | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Shift the robot to go right four times | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Proceed to the white block's position | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Take possession of the yellow block, rise, and then deactivate 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"}}]} |
Move upwards and then turn on suction cup | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Move the yellow block ahead 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"}}]} |
Make the 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"}}]} |
Head right and then elevate upwards | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Move the robotic arm to coordinates (410, 280, -105). | {"actions": [{"command": "move_to", "parameters": {"x": 410, "y": 280, "z": -105}}]} |
Make the arm move to the right twice | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Navigate to yellow block | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Move the arm on the left of orange block | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Secure 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"}}]} |
Start suction. | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}]} |
Shift the robot to go right twice | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Stack the yellow block onto 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": "suction_cup", "parameters": {"action": "off"}}]} |
Get the robotic arm to the right 3 times | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Move the arm to (3219, -2335, 61). | {"actions": [{"command": "move_to", "parameters": {"x": 3219, "y": -2335, "z": 61}}]} |
Get the robot backward | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Make the arm move to violet block location | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Move robotic arm to up twice | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Lower the robotic arm | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Move leftwards and then turn on suction cup | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Switch the suction cup off. | {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}]} |
Get the robotic arm to go down 3 times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Relocate the yellow block to be ahead 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"}}]} |
Move the robotic arm to coordinates (400, 240, -85). | {"actions": [{"command": "move_to", "parameters": {"x": 400, "y": 240, "z": -85}}]} |
Switch on suction, move to position (236.18, 217.97, -58.65), ascend, then switch off suction | {"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"}}]} |
Make the robot move to the right twice | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Turn on suction cup and shift to the up direction | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Approach (226.21, 145.21, -54.18), shift right, switch off suction, then shift down | {"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"}}]} |
Move the arm to (1078, -180, 45). | {"actions": [{"command": "move_to", "parameters": {"x": 1078, "y": -180, "z": 45}}]} |
Shift the robotic arm to go left four times | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Shift the the robotic arm left 3 times | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Turn on 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"}}]} |
Get the robot to go down four times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Shift the robotic arm to the down four times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Go towards (197.07, 175.62, -51.44), shift right, turn off suction, then descend | {"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"}}]} |
Get the the robotic arm forward four times | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Turn on suction and proceed to (248.44, 137.32, -53.87) | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 248.44, "y": 137.32, "z": -53.87}}]} |
Take the orange block and move it in the forward direction. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Navigate to (263.4, 209.4, -23.7), turn left, and then turn off suction cup | {"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"}}]} |
Grab blue block and shift it to the right. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Shift the arm towards the right direction | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Proceed to yellow block position, go left, and turn on suction cup | {"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 in the left direction | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Move the robotic arm to coordinates (310, 180, -55). | {"actions": [{"command": "move_to", "parameters": {"x": 310, "y": 180, "z": -55}}]} |
Activate suction, proceed to location (199.68, 230.54, -61.25), go upwards, then deactivate suction | {"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"}}]} |