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Navigate to yellow block location, shift left, then activate 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 the green block and advance its position forward. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Place 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"}}]} |
Move to (314.52, 125.73, -47.37) and then shift towards the right | {"actions": [{"command": "move_to", "parameters": {"x": 314.52, "y": 125.73, "z": -47.37}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Move towards backward direction | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Get the the robotic arm to the up twice | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Let suction cup on. | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}]} |
Go up and then go down | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Proceed to (705.6, 583.8, 121.5), turn left, and then turn off suction cup | {"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"}}]} |
Reach yellow block, go 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"}}]} |
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"}}]} |
Proceed to where the yellow block is, then shift to the 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"}}]} |
Shift right, move downwards, then proceed to the left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move up four times | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Make the arm move to the up | {"actions": [{"command": "move", "parameters": {"direction": "up"}}]} |
Proceed to the right, descend, then move left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Get 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"}}]} |
Shift forward and then shift backward | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Shift to the left, ascend, then move down | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Shift to the left, ascend, then move down | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Move the arm to white block coordinates | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Move sideways to the left | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Get the robot arm to go down direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Head to (222.19, 185.73, -58.36) and then go right | {"actions": [{"command": "move_to", "parameters": {"x": 222.19, "y": 185.73, "z": -58.36}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Move forward twice | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Move down | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Shift the robotic arm to go forward | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]} |
Turn suction cup on. | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}]} |
Shift left and then move to (314.52, 125.73, -47.37) | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 314.52, "y": 125.73, "z": -47.37}}]} |
Get the robotic arm to the backward direction four times | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Move robotic arm to the left 3 times | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Shift left and then shift right | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Shift the robot leftward twice | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Ascend, descend, go left, and then go right | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Turn suction off. | {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}]} |
Grasp 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"}}]} |
Move towards the right direction | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Move leftwards and then rightwards | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Get the robotic arm to go left 3 times | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Shift the arm towards the backward direction | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Shift the robotic arm towards backward direction | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Move arm to left twice | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"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"}}]} |
Proceed to the right, descend, then move left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Switch off the suction cup. | {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}]} |
Move the arm to (543, 354, 47). | {"actions": [{"command": "move_to", "parameters": {"x": 543, "y": 354, "z": 47}}]} |
Shift the arm to the left | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Make the robot arm move to the right twice | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Shift the robot arm to go down | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Move left, reach white block, activate 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"}}]} |
Get the robot arm to go left twice | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move 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 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"}}]} |
Go to pink block coordinate and move rightward. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Make the robotic arm to move to white block position | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Turn on suction cup and proceed to go up | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Shift the robotic arm to the backward direction | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Move rightward and then head to (222.19, 185.73, -58.36) | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move_to", "parameters": {"x": 222.19, "y": 185.73, "z": -58.36}}]} |
Activate suction, move left, ascend, 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"}}]} |
Get the robot arm to go backward twice | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Deactivate suction. | {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}]} |
Shift the robot arm to go up twice | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Shift 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"}}]} |
Move to the forward direction twice | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Move to (200.0, 150.0, -50.0), turn left, and then turn off suction cup | {"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"}}]} |
Move the robotic arm down 3 times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Switch on suction, navigate to position (217.99, 221.52, -58.87), move upward, then switch off suction | {"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"}}]} |
Move towards the left and then towards the right | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Shift the the robotic arm to the right twice | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Move forward four times | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
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"}}]} |
Shift the robotic arm to go backward twice | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
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"}}]} |
Get the robot arm to go right direction four times | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Move robotic arm to backward twice | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Switch on suction, move to position (230.08, 208.97, -57.92), ascend, then switch off suction | {"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"}}]} |
Shift the robot backward four | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Get the robotic arm to go forward twice | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Move the robotic arm to the left 3 times | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Navigate toward the position of the yellow block | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Ascend and then travel to (263.47, 162.85, -53.17) | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move_to", "parameters": {"x": 263.47, "y": 162.85, "z": -53.17}}]} |
Head towards the yellow block | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Grab black block and shift it to the right. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Shift 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"}}]} |
Make the robotic arm move to the left 3 times | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Get the robot arm to the forward direction | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]} |
Shift right, move downwards, then proceed to the left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
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"}}]} |
Shift the robot moving forward 3 times | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Turn on suction, reach coordinates (247.76, 240.93, -64.93), move upwards, then turn off suction | {"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"}}]} |
Head over to the yellow block's position | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
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 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"}}]} |
Descend and then reach (297.18, 137.89, -49.08) | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move_to", "parameters": {"x": 297.18, "y": 137.89, "z": -49.08}}]} |
Approach yellow block, move left, and turn on the 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 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"}}]} |
Get the robotic arm to the forward direction twice | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Take the green block and move it in the forward direction. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Get the arm to the right | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Make the robot move to the left direction twice | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |