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Make the robot arm move to the down 3 times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Go towards the backward and then towards the forward | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Move arm to right twice | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Navigate to (142.65, 198.34, -49.21) and then proceed leftward | {"actions": [{"command": "move_to", "parameters": {"x": 142.65, "y": 198.34, "z": -49.21}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move to the position of orange block and go forward | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Activate suction cup and then proceed to yellow block coordinates | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Shift right, descend, then move 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 backward | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Proceed to (614.3, 503.2, 91.2), turn left, and then turn off suction cup | {"actions": [{"command": "move_to", "parameters": {"x": 614.3, "y": 503.2, "z": 91.2}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]} |
Get 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"}}]} |
Get the arm to the left | {"actions": [{"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"}}]} |
Shift towards the left and then rise | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Shift the robotic arm 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"}}]} |
Move to coordinate (524.34, 495.39, -144.33) | {"actions": [{"command": "move_to", "parameters": {"x": 524.34, "y": 495.39, "z": -144.33}}]} |
Move sideways to the up | {"actions": [{"command": "move", "parameters": {"direction": "up"}}]} |
Move the robotic arm to coordinates (380, 220, -75). | {"actions": [{"command": "move_to", "parameters": {"x": 380, "y": 220, "z": -75}}]} |
Move to the location of the white block | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Let the suction cup off. | {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}]} |
Direct the arm to the white block | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
Arrange the yellow block to 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"}}]} |
Get the the robotic arm left 3 times | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move to (150, 250, -50), and then move the white block to coordinates (151, 251, -51) | {"actions": [{"command": "move_to", "parameters": {"x": 150, "y": 250, "z": -50}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 151, "y": 251, "z": -51}}, {"command": "suction_cup", "parameters": {"action": "off"}}]} |
Move towards the left direction four times | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Proceed to (490.1, 398.2, 50.7), turn left, and then turn off suction cup | {"actions": [{"command": "move_to", "parameters": {"x": 490.1, "y": 398.2, "z": 50.7}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]} |
Go to yellow block | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Move robotic arm to the forward direction twice | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Make the robot move to the up direction four times | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Proceed to yellow block coordinates and then turn on suction | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Shift leftwards and then go to (263.47, 162.85, -53.17) | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 263.47, "y": 162.85, "z": -53.17}}]} |
Proceed to (193.72, 189.25, -50.92), go right, turn off suction, then go down | {"actions": [{"command": "move_to", "parameters": {"x": 193.72, "y": 189.25, "z": -50.92}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Get the robot arm to go forward direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Get the robot arm to go down direction four times | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Go to blue block location. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
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"}}]} |
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"}}]} |
Proceed to (303.8, 242.8, -10.2), turn left, and then turn off suction cup | {"actions": [{"command": "move_to", "parameters": {"x": 303.8, "y": 242.8, "z": -10.2}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]} |
Get the robot to the backward direction direction | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Move rightward, descend, then shift to the left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Get the 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"}}]} |
Turn on the suction and navigate to the white block coordinates | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]} |
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"}}]} |
Go to black block coordinate and move rightward. | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Shift the robot arm to go right direction | {"actions": [{"command": "move", "parameters": {"direction": "right"}}]} |
Take possession of yellow block, rise, and then deactivate 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"}}]} |
Go to the yellow block, move leftward, and 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"}}]} |
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"}}]} |
Shift the robot sideways to the forward direction | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]} |
Shift 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"}}]} |
Head to (330.91, 112.86, -46.02) and then go left | {"actions": [{"command": "move_to", "parameters": {"x": 330.91, "y": 112.86, "z": -46.02}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Move left, ascend, then descend | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
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"}}]} |
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"}}]} |
Move to (556.70, 186.40, -97.52) | {"actions": [{"command": "move_to", "parameters": {"x": 556.7, "y": 186.4, "z": -97.52}}]} |
Shift the robotic arm to go forward twice | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Go left and then switch on suction cup | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Move upwards followed by a downward movement | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Shift the robot downward four | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Go to (262.72, 125.79, -52.54) and then activate suction cup | {"actions": [{"command": "move_to", "parameters": {"x": 262.72, "y": 125.79, "z": -52.54}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Make the robot arm move to yellow block position | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Turn on suction cup and proceed left | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Get the arm to the up direction four times | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
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"}}]} |
Turn on 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"}}]} |
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"}}]} |
Align 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"}}]} |
Shift the robotic arm to the forward direction twice | {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]} |
Move towards the right direction 3 times | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Move left, reach 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"}}]} |
Grab the white block | {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}]} |
Turn on suction cup and navigate 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}}]} |
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"}}]} |
Switch on suction, navigate to (176.39, 177.58, -57.92), move upward, then switch off suction | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 176.39, "y": 177.58, "z": -57.92}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]} |
Arrange the yellow block to 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 the robot to the down direction | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
Make the arm move to black block location | {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]} |
Move the white block to the back 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": "backward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]} |
Move the arm to (5373, -4490, 69). | {"actions": [{"command": "move_to", "parameters": {"x": 5373, "y": -4490, "z": 69}}]} |
Go down and then followed by go up | {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Move to (209.56, 178.21, -56.92) and then go downwards | {"actions": [{"command": "move_to", "parameters": {"x": 209.56, "y": 178.21, "z": -56.92}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Get the robot to go left | {"actions": [{"command": "move", "parameters": {"direction": "left"}}]} |
Shift the the robotic arm to the down | {"actions": [{"command": "move", "parameters": {"direction": "down"}}]} |
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"}}]} |
Activate suction, move to the left, rise, 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"}}]} |
Shift right and then shift left | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Go to where the yellow block located | {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
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"}}]} |
Get to yellow block, turn left, switch on suction, then turn 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"}}]} |
Take possession of yellow block, go up, 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"}}]} |
Move to (226.87, 148.15, -54.03), go right, deactivate suction, then go down | {"actions": [{"command": "move_to", "parameters": {"x": 226.87, "y": 148.15, "z": -54.03}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]} |
Get the arm to the backward direction direction | {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]} |
Turn on suction and navigate to where the yellow block is | {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]} |
Get the robot to go up four times | {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]} |
Shift the white block behind 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": "backward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]} |
Take possession of the yellow block, rise, and then deactivate 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"}}]} |
Get the robotic arm to go left twice | {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "left"}}]} |
Shift the robot arm to go right twice | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Reach yellow block, go left, activate 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 robotic arm to go right four times | {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "right"}}]} |
Put the yellow block onto 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"}}]} |