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Move to (209.56, 178.21, -56.92) and then shift towards the right | {"actions": [{"command": "move_to", "parameters": {"x": 209.56, "y": 178.21, "z": -56.92}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Head the arm to the area containing the yellow block | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
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"}}]} |
Activate suction, go to (221.32, 231.32, -62.09), ascend, then deactivate suction | {"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"}}]} |
Shift the robot rightward twice | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
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"}}]} |
Grasp the blue block and push it forward. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Go right, move downwards, then proceed to the left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
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"}}]} |
Let the suction on. | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}]} |
Get the robot arm to go down direction twice | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Go up, then go down, move left, and finally go right | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Position the white block atop 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 robotic arm towards the backward direction | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Grab red block and shift it to the right. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Move towards 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, 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"}}]} |
Travel down and then switch on suction cup | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Reach (205.96, 167.89, -52.01), go right, deactivate suction, then move down | {"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"}}]} |
Move right then ascend | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Proceed to the location of the yellow block, then move 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"}}]} |
Go right, descend, then shift to the left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Make the arm move to the down 3 times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Get the arm to the down | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Get down and then go upwards | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Grab the orange block and move it forward. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Reach (205.96, 167.89, -52.01), go right, deactivate suction, then move down | {"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"}}]} |
Move to (240.60, 133.48, -54.85), shift right, deactivate suction, then descend | {"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"}}]} |
Move to the left twice | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Go towards (197.97, 174.62, -51.50), shift right, turn off suction, then descend | {"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"}}]} |
Move arm to the left 3 times | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Grab pink block and shift it to the right. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Go right and then move down | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Move upwards, grab the white block, and turn off 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"}}]} |
Make the robot move to the down direction | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Move the 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"}}]} |
Reach yellow block, proceed 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"}}]} |
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"}}]} |
Shift the robotic arm to the left | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Travel to the white block's position | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Direct the arm to white block | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Go to 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 the robotic arm down | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Shift the robotic arm to the left | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Move the arm backward | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Direct the arm to white block position | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Move the robotic arm to the forward direction twice | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Shift the robot sideways to the left | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Go to the white block's position | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Move backward and then forward | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Go right, move downwards, then proceed to the left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Turn on suction, move left, go upwards, 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"}}]} |
Get the orange block and shift it to the left. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Make the pink block forward of the green block | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Make the arm move to the backward direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
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"}}]} |
Get the the robotic arm right twice | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Shift the the robotic arm 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"}}]} |
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 arm to (4689, -3806, 56). | {"actions": [{"command": "move_to", "parameters": {"x": 4689, "y": -3806, "z": 56}}]} |
Get the robotic arm to go right 3 times | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Shift left, move to 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"}}]} |
Go up, then descend, go 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"}}]} |
Get the the robotic arm right 3 times | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Head toward the position of the white block | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Go left, go to white block, switch on suction, and 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"}}]} |
Pick up the yellow block, move upwards, 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"}}]} |
Make the robot move to the backward direction direction twice | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Disable the suction. | {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}]} |
Pick up the violet block and moving it forward. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Go to (498.6, 408.1, 54.0), turn left, and then turn off suction cup | {"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"}}]} |
Go to (214.58, 156.49, -53.17), move right, turn off the suction, then go down | {"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"}}]} |
Navigate to (540.0, 442.7, 67.5), turn left, and then turn off suction cup | {"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"}}]} |
Turn on suction cup and move rightwards | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Make the red block forward of the green block | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Get the the robotic arm to the right twice | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Stack the yellow block over the white one. | {"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"}}]} |
Place the arm to the white block location | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Get the 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"}}]} |
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"}}]} |
Move robotic arm to the right twice | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Go to the location of the violet block and turn on suction. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Reach yellow block, move left, turn on suction, and 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"}}]} |
Shift the robotic arm to the left twice | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move rightward, move downwards, then shift to the left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Approach (227.41, 144.19, -54.07), shift right, switch off suction, then shift down | {"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"}}]} |
Move left, move 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"}}]} |
Direct the arm to yellow block position | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Get the the robotic arm up 3 times | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Shift the robot moving left twice | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Approach yellow block, go left, turn 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"}}]} |
Go to yellow block, move left, turn on the suction, and 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 robotic arm to coordinates (600, 400, -120). | {"actions": [{"command": "move_to", "parameters": {"x": 600, "y": 400, "z": -120}}]} |
Shift the robot 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"}}]} |
Turn on suction cup and proceed to go down | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Get the robot moving left | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Shift the robotic arm to the down twice | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Grasp the 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"}}]} |
Go left, go to white block, switch on suction, and 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"}}]} |
Switch on suction, move to position (237.65, 216.78, -58.5), ascend, then switch off suction | {"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"}}]} |