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Go left, go 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 (377.04, 294.48, -82.82) | {"actions": [{"command": "move_to", "parameters": {"x": 377.04, "y": 294.48, "z": -82.82}}]} |
Get the the robotic arm to the up 3 times | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Get the robot to go forward four times | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
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"}}]} |
Shift right and then turn on suction cup | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Shift right, descend, then move to the left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move to (240.70, 132.19, -54.83), shift right, deactivate suction, then descend | {"actions": [{"command": "move_to", "parameters": {"x": 240.7, "y": 132.19, "z": -54.83}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Place the yellow block to the right side 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 to coordinate (893.25, 278.56, -182.98) | {"actions": [{"command": "move_to", "parameters": {"x": 893.25, "y": 278.56, "z": -182.98}}]} |
Move yourself to the down direction | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Shift the robot moving up 3 times | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Go upward and then turn on suction cup | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
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"}}]} |
Make the robot move to the left | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Move to the left, and then right, and then up, and then down | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Proceed to the right, descend, then shift left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Travel to yellow block position, then move 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"}}]} |
Move to coordinate (372.84, 654.29, -178.73) | {"actions": [{"command": "move_to", "parameters": {"x": 372.84, "y": 654.29, "z": -178.73}}]} |
Move leftward and then head to (222.19, 185.73, -58.36) | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 222.19, "y": 185.73, "z": -58.36}}]} |
Move rightward, go down, 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"}}]} |
Switch on suction, navigate to position (221.79, 224.35, -58.77), move upward, then switch off suction | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 221.79, "y": 224.35, "z": -58.77}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]} |
Move to (908.60, -161.60, 16.40) | {"actions": [{"command": "move_to", "parameters": {"x": 908.6, "y": -161.6, "z": 16.4}}]} |
Move towards the forward direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Shift the robot arm to go backward direction twice | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Make the green block forward of the green block | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Set the suction on. | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}]} |
Move towards the backward and then towards the forward | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Move robotic arm to down 3 times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Move the robotic arm to coordinates (290, 130, -52). | {"actions": [{"command": "move_to", "parameters": {"x": 290, "y": 130, "z": -52}}]} |
Move to coordinate (449.02, 389.41, -106.78) | {"actions": [{"command": "move_to", "parameters": {"x": 449.02, "y": 389.41, "z": -106.78}}]} |
Reach yellow block, move 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"}}]} |
Slide 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"}}]} |
Navigate to the position of the yellow block | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Move towards the backward direction | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Move upwards, grasp the white block, and turn off suction cup | {"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"}}]} |
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"}}]} |
Proceed upwards and then activate suction cup | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Move the robotic arm to coordinates (340, 210, -70). | {"actions": [{"command": "move_to", "parameters": {"x": 340, "y": 210, "z": -70}}]} |
Move yourself to the forward direction direction | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]} |
Move to (732.60, 11.90, -39.41) | {"actions": [{"command": "move_to", "parameters": {"x": 732.6, "y": 11.9, "z": -39.41}}]} |
Shift the the robotic arm to the backward direction twice | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Navigate to (217.56, 163.45, -55.86) and then turn on suction | {"actions": [{"command": "move_to", "parameters": {"x": 217.56, "y": 163.45, "z": -55.86}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Move rightward, descend, then shift to the left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Shift the robot arm to go up 3 times | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Go to black block and move it backward | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Move to coordinate (366.69, 280.91, -80.49) | {"actions": [{"command": "move_to", "parameters": {"x": 366.69, "y": 280.91, "z": -80.49}}]} |
Reach (209.78, 165.26, -52.33), go right, deactivate suction, then move down | {"actions": [{"command": "move_to", "parameters": {"x": 209.78, "y": 165.26, "z": -52.33}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
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"}}]} |
Travel to (263.47, 162.85, -53.17) and then go downward | {"actions": [{"command": "move_to", "parameters": {"x": 263.47, "y": 162.85, "z": -53.17}}, {"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"}}]} |
Approach (227.31, 144.21, -54.08), shift right, switch off suction, then shift down | {"actions": [{"command": "move_to", "parameters": {"x": 227.31, "y": 144.21, "z": -54.08}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Proceed to (347.28, 99.77, -44.81) and then move upward | {"actions": [{"command": "move_to", "parameters": {"x": 347.28, "y": 99.77, "z": -44.81}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Move towards the left direction twice | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Shift the robotic arm towards right direction | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Get the robot moving right four times | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
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"}}]} |
Ascend, descend, move left, and then move right | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}, {"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"}}]} |
Move to (250.86, 63.19, -61.23) | {"actions": [{"command": "move_to", "parameters": {"x": 250.86, "y": 63.19, "z": -61.23}}]} |
Shift the robotic arm to the right | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Switch the suction cup on. | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}]} |
Get the robot arm to go forward twice | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Set the yellow block on top 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": "suction_cup", "parameters": {"action": "off"}}]} |
Shift the arm towards the down direction | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Place the yellow block at 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"}}]} |
Switch on suction, move to position (219.71, 236.42, -63.09), ascend, then switch off suction | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 219.71, "y": 236.42, "z": -63.09}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]} |
Get the robot arm to go up | {"actions": [{"command": "move", "parameters": {"direction": "up"}}]} |
Make the robot move to the down twice | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Proceed to the right, descend, then shift left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move robotic arm to forward 3 times | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Get the robot moving right 3 times | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Head to the yellow block, then 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"}}]} |
Make the arm move to the left 3 times | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Activate suction and then proceed to the white block position | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Reach (187.43, 167.82, -54.78) and then move down | {"actions": [{"command": "move_to", "parameters": {"x": 187.43, "y": 167.82, "z": -54.78}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Turn on suction cup and head down | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Head to (330.91, 112.86, -46.02) and then go right | {"actions": [{"command": "move_to", "parameters": {"x": 330.91, "y": 112.86, "z": -46.02}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Travel to yellow block, shift left, and activate the 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"}}]} |
Get the arm to the forward direction direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Move to yellow block, shift 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"}}]} |
Make the robot move to the left twice | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move the arm to yellow block | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Shift the robot 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"}}]} |
Ascend, descend, shift left, and then shift right | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Move left, ascend, then descend | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Take the violet block and move it in the forward direction. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Shift the robot arm to go 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"}}]} |
Shift the robot arm to the left | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Get the robotic arm to the down 3 times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Move the arm to (4803, -3920, 68). | {"actions": [{"command": "move_to", "parameters": {"x": 4803, "y": -3920, "z": 68}}]} |
Shift the the robotic arm backward | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Move leftward, go up, and then descend | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Adjust the position of 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"}}]} |
Move to (243.42, 129.61, -54.88), shift right, deactivate suction, then descend | {"actions": [{"command": "move_to", "parameters": {"x": 243.42, "y": 129.61, "z": -54.88}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Ascend, descend, move left, and then move right | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Get the arm to the down direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Grasp the red block and push it forward. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Move the arm to (5031, -4148, 63). | {"actions": [{"command": "move_to", "parameters": {"x": 5031, "y": -4148, "z": 63}}]} |