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Move robotic arm to the right | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Make the robot 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"}}]} |
Move to (359.26, 192.93, -132.24) | {"actions": [{"command": "move_to", "parameters": {"x": 359.26, "y": 192.93, "z": -132.24}}]} |
Set the white block on top 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": "suction_cup", "parameters": {"action": "off"}}]} |
Turn on suction, reach coordinates (241.35, 234.12, -64.47), move upwards, then turn off suction | {"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"}}]} |
Go towards the forward and then towards the backward | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Go to the right and then proceed to (347.28, 99.77, -44.81) | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move_to", "parameters": {"x": 347.28, "y": 99.77, "z": -44.81}}]} |
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"}}]} |
Move the arm to (238, 657, 49). | {"actions": [{"command": "move_to", "parameters": {"x": 238, "y": 657, "z": 49}}]} |
Make the robot move to the right direction twice | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Make the robotic arm move to the backward direction | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Move the robotic arm 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 to (838.20, -91.80, -5.63) | {"actions": [{"command": "move_to", "parameters": {"x": 838.2, "y": -91.8, "z": -5.63}}]} |
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 to (302.52, 90.15, -48.47) and then turn on suction cup | {"actions": [{"command": "move_to", "parameters": {"x": 302.52, "y": 90.15, "z": -48.47}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Make the robot move 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"}}]} |
Move the arm to (2993, -2108, 67). | {"actions": [{"command": "move_to", "parameters": {"x": 2993, "y": -2108, "z": 67}}]} |
Move the arm to (2318, -1421, 64). | {"actions": [{"command": "move_to", "parameters": {"x": 2318, "y": -1421, "z": 64}}]} |
Travel to (263.47, 162.85, -53.17) and then go upward | {"actions": [{"command": "move_to", "parameters": {"x": 263.47, "y": 162.85, "z": -53.17}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Make the black block move forward. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Proceed to (234.80, 138.70, -54.43), go right, turn off the suction, then go down | {"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"}}]} |
Switch suction cup off. | {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}]} |
Shift the robot arm to the forward direction | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]} |
Go to orange block and move it backward | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Move the robotic arm to coordinates (470, 310, -120). | {"actions": [{"command": "move_to", "parameters": {"x": 470, "y": 310, "z": -120}}]} |
Adjust 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"}}]} |
Move to coordinate (984.56, 143.69, -228.75) | {"actions": [{"command": "move_to", "parameters": {"x": 984.56, "y": 143.69, "z": -228.75}}]} |
Rise up and then lower down | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Move the arm to (5259, -4376, 56). | {"actions": [{"command": "move_to", "parameters": {"x": 5259, "y": -4376, "z": 56}}]} |
Shift the robot arm to go down twice | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Move leftward and then head to (330.91, 112.86, -46.02) | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 330.91, "y": 112.86, "z": -46.02}}]} |
Shift the robotic arm 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"}}]} |
Head toward the position of the yellow block | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Switch on suction, navigate to position (221.91, 204.38, -57.25), move upward, then switch off suction | {"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"}}]} |
Go to the coordinates of the white block | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Switch on suction. | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}]} |
Get the robot in the left direction | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Approach the yellow block, shift to the left, and activate 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"}}]} |
Go downwards and then come upwards | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Shift the arm to the forward direction | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]} |
Go right, descend, then shift to the left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
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"}}]} |
Shift the robotic arm to go right twice | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Move downwards and then proceed to (347.28, 99.77, -44.81) | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move_to", "parameters": {"x": 347.28, "y": 99.77, "z": -44.81}}]} |
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 the the robotic arm down four times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Get to 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"}}]} |
Get the the robotic arm left four times | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move the arm to (2776, -1880, 49). | {"actions": [{"command": "move_to", "parameters": {"x": 2776, "y": -1880, "z": 49}}]} |
Go to the left and then reach (187.43, 167.82, -54.78) | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 187.43, "y": 167.82, "z": -54.78}}]} |
Move rightward, descend, then shift to the left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Go to the position of the white block | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Move the arm to (4007, -3124, 49). | {"actions": [{"command": "move_to", "parameters": {"x": 4007, "y": -3124, "z": 49}}]} |
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"}}]} |
Move towards down direction | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Shift the arm to the left direction | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Move leftward, go up, and then descend | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Go to orange block location. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Shift the robotic arm to the right 3 times | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Shift the the robotic arm left | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Move to (873.40, -126.70, 5.45) | {"actions": [{"command": "move_to", "parameters": {"x": 873.4, "y": -126.7, "z": 5.45}}]} |
Proceed to the 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"}}]} |
Grab the black block and move it forward. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Shift to the left, ascend, then move down | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Grab the yellow block | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Move the arm to white block position | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Go to the right and then reach (187.43, 167.82, -54.78) | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move_to", "parameters": {"x": 187.43, "y": 167.82, "z": -54.78}}]} |
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"}}]} |
Grabbing 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"}}]} |
Position 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"}}]} |
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"}}]} |
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"}}]} |
Move to coordinate (305.65, 198.27, -65.34) | {"actions": [{"command": "move_to", "parameters": {"x": 305.65, "y": 198.27, "z": -65.34}}]} |
Shift the robot to go down twice | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Shift the the robotic arm backward 3 times | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Activate suction cup and go to the position of the yellow block | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Get the the robotic arm backward twice | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Go towards yellow block, turn 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"}}]} |
Ascend and then head to (222.19, 185.73, -58.36) | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move_to", "parameters": {"x": 222.19, "y": 185.73, "z": -58.36}}]} |
Move 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 the down | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Turn on 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"}}]} |
Shift the arm to the down | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Get the arm to the backward direction direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Make the robot move to the down | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Get the the robotic arm down | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Move to coordinate (481.58, 433.95, -120.35) | {"actions": [{"command": "move_to", "parameters": {"x": 481.58, "y": 433.95, "z": -120.35}}]} |
Shift the robot arm to go right direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Ascend, descend, go left, then go right | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Use the suction cup to grab the red block and move it forward. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Grab yellow block, move up, and then 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 the robotic arm to move to yellow block position | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Reach 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"}}]} |
Move to coordinate (285.21, 169.03, -60.12) | {"actions": [{"command": "move_to", "parameters": {"x": 285.21, "y": 169.03, "z": -60.12}}]} |
Go up, then descend, move left, and finally right | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Move to (409.24, 244.82, -161.19) | {"actions": [{"command": "move_to", "parameters": {"x": 409.24, "y": 244.82, "z": -161.19}}]} |
Go to (279.62, 149.38, -50.92) and then proceed left | {"actions": [{"command": "move_to", "parameters": {"x": 279.62, "y": 149.38, "z": -50.92}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move the robotic arm to coordinates (400, 270, -100). | {"actions": [{"command": "move_to", "parameters": {"x": 400, "y": 270, "z": -100}}]} |
Go to where the white block is. | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Approach 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"}}]} |