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Get the the robotic arm to the backward direction | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Shift the robot sideways to the backward direction | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Activate suction, proceed to location (192.72, 229.45, -61.07), go upwards, then deactivate suction | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 192.72, "y": 229.45, "z": -61.07}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]} |
Go to red block and move it backward | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Go to where the white block is positioned | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Proceed to (234.90, 139.14, -54.49), go right, turn off the suction, then go down | {"actions": [{"command": "move_to", "parameters": {"x": 234.9, "y": 139.14, "z": -54.49}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Get the robot to go down 3 times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Shift the robotic arm to the 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 robot forward | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]} |
Navigate to (386.6, 310.7, 16.9), turn left, and then turn off suction cup | {"actions": [{"command": "move_to", "parameters": {"x": 386.6, "y": 310.7, "z": 16.9}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]} |
Turn on suction cup and go to the left | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Make the arm go to forward and then go to the backward | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Turn on suction cup and go to the down direction | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Shift to the backward first, then move to the forward | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Position 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"}}]} |
Take the red block and move it in the forward direction. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Navigate to (355.82, 44.07, -42.99) and then turn on suction | {"actions": [{"command": "move_to", "parameters": {"x": 355.82, "y": 44.07, "z": -42.99}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Move to (347.48, 179.65, -124.09) | {"actions": [{"command": "move_to", "parameters": {"x": 347.48, "y": 179.65, "z": -124.09}}]} |
Shift the robotic arm to go down twice | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Direct the arm to the area containing the yellow block | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Move the robotic arm forward twice | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Set suction on. | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}]} |
Move arm to 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 to (220.36, 15.72, -48.05) | {"actions": [{"command": "move_to", "parameters": {"x": 220.36, "y": 15.72, "z": -48.05}}]} |
Grab the orange block and move it backward. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
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"}}]} |
Make the arm move to yellow block position | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Get the arm to the left direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move the arm to (5487, -4604, 49). | {"actions": [{"command": "move_to", "parameters": {"x": 5487, "y": -4604, "z": 49}}]} |
Move left, ascend, then descend | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Use the suction cup to grab the black block and move it forward. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Proceed to location where the yellow block is located. | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Proceed to (235.72, 139.25, -54.45), go right, turn off the suction, then go down | {"actions": [{"command": "move_to", "parameters": {"x": 235.72, "y": 139.25, "z": -54.45}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Move backward four times | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Go to (260.0, 210.0, -20.0), go up, and then turn off suction | {"actions": [{"command": "move_to", "parameters": {"x": 260.0, "y": 210.0, "z": -20.0}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]} |
Activate suction, shift left, ascend, 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"}}]} |
Move left four times | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Position the arm to yellow block coordinates | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Ascend and then move to (142.65, 198.34, -49.21) | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move_to", "parameters": {"x": 142.65, "y": 198.34, "z": -49.21}}]} |
Move robotic arm to left twice | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Head right then go down | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Make the robot move to the forward direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
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"}}]} |
Go to the position of the yellow block | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Reach (187.43, 167.82, -54.78) and then turn right | {"actions": [{"command": "move_to", "parameters": {"x": 187.43, "y": 167.82, "z": -54.78}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Get the robot arm to go left | {"actions": [{"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 leftward, go up, and then descend | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Move to the left and grab the pink block | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Move the arm to (1987, -1087, 47). | {"actions": [{"command": "move_to", "parameters": {"x": 1987, "y": -1087, "z": 47}}]} |
Get the robot to go up twice | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Shift 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 towards right direction | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Proceed to (242.81, 174.99, -55.73) and then move up | {"actions": [{"command": "move_to", "parameters": {"x": 242.81, "y": 174.99, "z": -55.73}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Move to (314.52, 125.73, -47.37) and then shift towards the left | {"actions": [{"command": "move_to", "parameters": {"x": 314.52, "y": 125.73, "z": -47.37}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Shift the robot in the down direction | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Move to coordinate (408.13, 335.19, -90.81) | {"actions": [{"command": "move_to", "parameters": {"x": 408.13, "y": 335.19, "z": -90.81}}]} |
Turn on suction, reach coordinates (243.43, 236.32, -64.64), move upwards, then turn off suction | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 243.43, "y": 236.32, "z": -64.64}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]} |
Get the robot sideways to the forward direction | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]} |
Make the robot move to the right direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Get the robot moving up twice | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Turn on suction, travel to (210.82, 235.41, -64.07), go upwards, then turn off suction | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 210.82, "y": 235.41, "z": -64.07}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]} |
Shift the the robotic arm down 3 times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Shift 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"}}]} |
Shift the robot arm to go right direction twice | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Shift the robot to go left twice | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Get the robotic arm to move to white block position | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Shift 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"}}]} |
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"}}]} |
Ascend, take hold 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 backward four times | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]} |
Align 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"}}]} |
Activate suction, proceed to location (224.59, 195.37, -58.43), go upwards, then deactivate suction | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 224.59, "y": 195.37, "z": -58.43}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]} |
Shift the the robotic arm right | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Move the arm to (3330, -2447, 48). | {"actions": [{"command": "move_to", "parameters": {"x": 3330, "y": -2447, "z": 48}}]} |
Move to the left and grab the red block | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Get the robot to go forward | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]} |
Navigate left and then go upwards | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Shift the robot arm to go down direction twice | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Proceed rightward followed by an downward elevation | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
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"}}]} |