Input: Slide the robot towards the blue block then move it to the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: disable the next suction go to the location of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: move the robot to the yellow block then toward the back

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: go down then turn on the end effector of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the end effector to the location of the blue block then turn on the suction then go left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Turn on the tip of the suction then go to the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: Move the robot arm to the location of the blue block then turn off the suction cup then go forward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: move the robot to the purple block then to the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Slide the robot to the location of the purple block then downward

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Turn off the suction cup then move the robot arm to the location of the purple block then go up

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Move the robot to the blue block then activate the end effector of the suction then the suction goes down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Slide the robot arm to the blue block position then turn on the suction cup then go to the front

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: disable the next suction cup go to the location of the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: Move the robot arm to the position of the purple block then go downward then disable the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot towards the blue block then move it to the left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Move the robot to the location of the blue block then turn off the suction cup then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: go up then turn off the end effector of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot arm to the blue block position then turn on the sucker then go to the front

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Move the robot arm to the position of the purple block then backwards

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Slide the robot towards the blue block then activate the tip of the suction then go right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Activate the suction cup then move the robot arm to the purple block position then go downward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Stop the end effector of the suction then move the robot to the purple block then the suction goes to the top

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: turn on the suction then go to the blue block position

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}]}


Input: go to the front then turn on the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Turn on the suction cup then move the robot arm to the purple block position then go to the front

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Stop the tip of the suction then go to the location of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: go right then activate the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot to the location of the blue block then turn off the tip of the suction then go upward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Move the robot arm to the blue block position then activate the sucker then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Move the robot to the location of the blue block then turn off the suction cup then go left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Stop the end effector of the suction then move the robot to the purple block then the suction goes to the left

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Disable the edge of the suction then point the end effector to the coordinates of the purple block then go backward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Slide the robot towards the purple block then go right then stop the tip of the sucker

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot arm to the blue block position then turn on the suction then go right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Slide the robot to the location of the blue block then turn off the tip of the suction then go to the front

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Move the end effector to the location of the yellow block then backwards

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Move the robot to the blue block then turn on the end effector of the suction then the suction goes to the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Slide the robot to the location of the blue block then turn on the tip of the suction then go to the front

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: point the end effector to the coordinates of the purple block then go backwards then turn off the edge of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot towards the purple block then move it to the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Disable the edge of the suction then go to the location of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: Move the robot to the location of the blue block then turn on the suction cup then go upward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Move the robot arm to the location of the purple block then go down then turn off the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot to the location of the purple block then go to the right then activate the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the robot to the location of the blue block then turn on the suction cup then go left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: go to the right then turn on the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: go to the front then stop the sucker

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn on the End Effector Effector then goes to the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: Turn on the suction then move the end effector to the location of the purple block then go downward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: go backwards then deactivate the suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: go downward then the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Stop the suction cup then go to the location of the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: Slide the robot towards the blue block then deactivate the tip of the suction then go right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Stop the end effector of the suction then go to the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: go downward then the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go downstairs and activate Suction Cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the robot arm to the location of the blue block then upward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Move the robot to the purple block then the suction goes to the right then activate the end effector of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: go to the right then turn on the sucker

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Stop the suction then go to the position of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: Slide the robot arm to the yellow block position then to the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: go ahead then activate the suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Turn on the driver then go to the location of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: Move the end effector to the location of the purple block then go to the left then deactivate the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot to the location of the purple block then go backwards then turn on the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: go back then stop the sucker

Response: {"actions": [{"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot arm to the location of the blue block then downward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Move the end effector to the location of the purple block then go upward then disable the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot towards the blue block then turn off the tip of the suction then go forward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Move the robot arm to the yellow block position then backwards

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Slide the robot towards the purple block then go right then turn off the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: activate the suction cup then go to the location of the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: Stop the Suction Cup then go to the location of the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: Slide the robot towards the purple block then go down then turn off the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the end effector to the location of the blue block then turn on the suction then go downward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: go up then deactivate the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn on the tip of the suction then point the end effector to the coordinates of the purple block then go to the right

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Move the robot to the location of the blue block then downward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: go right then stop the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: point the end effector to the coordinates of the next purple block towards the bottom

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Turn on the suction then move the robot arm to the purple block position then go down

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Move the robot arm to the position of the purple block then go upward then disable the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot arm to the location of the yellow block then towards the front

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Move the robot arm to the location of the purple block then go down then deactivate the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot to the location of the purple block then upward

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Slide the robot arm to the yellow block position then to the left

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Move the robot arm to the position of the purple block then go back then turn off the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the end effector to the location of the purple block then go backwards then deactivate the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot towards the purple block then go left then activate the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot to the location of the purple block then turn off the tip of the suction then go backward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: go to the right then turn off the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn on the suction cup then move the robot arm to the purple block position then go to the right

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Turn on the tip of the driver then go to the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: Move the robot to the purple block then the suction goes back then activate the End Effector

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the robot arm to the yellow block position then upward

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Turn on the suction then go to the yellow block position

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: Move the robot arm to the blue block position then activate the sucker then go to the front

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Slide the robot to the location of the purple block then go left then turn on the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot arm to the blue block position and then deactivate the suction cup then go to the front

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: go left then turn on the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot arm to the position of the purple block then to the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Move the end effector to the location of the purple block then go downward then turn on the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Stop the driver then go to the location of the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: Move the end effector to the location of the purple block then go to the left then turn on the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot towards the blue block then stop the tip of the suction then go right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: go left then turn off the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot to the location of the blue block then turn on the tip of the suction then go left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Move the end effector to the location of the purple block then backwards

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Turn on the end of the suction then point the end effector to the coordinates of the purple block then go forward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Slide the robot towards the purple block then go forward then turn on the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Activate the next suction to go to the location of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: Move the robot to the blue block then towards the front

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: point the end effector to the coordinates of the purple block then go to the right then turn on the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: point the end effector to the coordinates of the purple block then go to the front then stop the edge of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot arm to the position of the purple block then go forward then turn on the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot to the location of the blue block then stop the tip of the suction then go to the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Turn on the suction cup then move the robot to the location of the purple block then go to the left

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Slide the robot arm to the blue block position then stop the suction cup then go left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: go to the front then the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot to the location of the blue block then turn on the suction cup then go backward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Stop the Suction Cup then move the robot arm to the location of the purple block then go forward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Turn on the suction then go to the yellow block position

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: Slide the robot to the location of the purple block then go to the right then disable the edge of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go downstairs then turn off the cup suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn on the suction then move the robot arm to the purple block position then go left

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Slide the robot towards the blue block then turn on the tip of the suction then go right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Turn on the suction then move the robot arm to the purple block position then go back

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Slide the robot arm to the blue block position then towards the front

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Turn off the suction cup then move the robot to the location of the purple block then go downward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Turn off the suction then move the end effector to the location of the purple block then go to the right

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Slide the robot towards the purple block then go right then turn on the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot to the location of the purple block then stop the tip of the suction then go upward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Slide the robot to the location of the purple block then go to the front then turn on the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the robot to the blue block then turn on the end effector of the suction then the suction goes back

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Move the end effector to the location of the purple block then go upward then turn off the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: go right then stop the end effector of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot arm to the location of the purple block then go back then turn off the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot arm to the position of the purple block then go to the front then activate the sucker

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Turn on the suction cup then move the robot arm to the location of the purple block then go up

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: go to the left then the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the robot to the location of the purple block then go upward then disable the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot towards the purple block then go down then deactivate the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot arm to the blue block position then deactivate the suction then go forward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Move the robot to the purple block then the suction goes to the right then deactivate the end effector of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn on the tip of the suction then slide the robot towards the purple block then go down

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Stop the end of the suction then point the end effector to the coordinates of the purple block then go upward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: move the robot to the yellow block then toward the top

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: point the end effector to the coordinates of the purple block then go upward then turn off the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot towards the blue block then stop the tip of the suction then go forward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Turn off the tip of the suction then go to the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: Turn on the sucker then move the robot arm to the purple block position then go to the front

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Move the robot arm to the location of the purple block then go left then turn on the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: go upward then stop the sucker

Response: {"actions": [{"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: disable the suction cup then go to the location of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: turn off the suction cup then go to the location of the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: Slide the robot to the location of the purple block then turn off the tip of the suction then go to the front

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: go to the front then turn off the suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: point the end effector to the next blue block coordinates towards the left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Slide the robot to the location of the blue block then turn on the tip of the suction then go backward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Move the end effector to the location of the yellow block then to the left

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Move the robot arm to the blue block position then stop the sucker then go to the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: go right then turn on the suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Turn on the next suction cup go to the location of the blue block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}]}


Input: go ahead then turn on the suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the robot to the location of the purple block then then go to the front then activate the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot towards the purple block then go back then turn on the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot arm to the blue block position then turn on the suction cup then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Stop the suction cup then move the robot to the location of the purple block then go upward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Turn off the suction cup then move the robot arm to the location of the purple block then go down

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: go to the right then activate the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: disable the suction cup then move the robot to the location of the purple block then go left

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Stop the end of the suction then point the end effector to the coordinates of the purple block then go downward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Move the robot to the location of the blue block then to the left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: turn on the end effector of the suction then move the robot to the purple block then the suction goes up

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: point the end effector to the coordinates of the purple block then go downward then deactivate the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn on the End Effector the Suction then goes to the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: point the end effector to the coordinates of the purple block then go backward

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot to the blue block then turn off the end effector of the suction then the suction goes down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Stop the end of the suction then point the end effector to the coordinates of the purple block then go forward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: go left then activate the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Activate the suction cup then move the robot to the location of the purple block then go to the left

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Move the robot to the location of the blue block then turn on the suction cup then go left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Stop the Suction Cup then go to the location of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: Move the End Effector to the location of the blue block then in the front

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Move the robot to the blue block then turn on the end effector of the suction then the suction goes back

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: go left and then deactivate the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot arm to the blue block position then stop the suction then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Move the robot arm to the blue block position then activate the suction then go left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Move the robot arm to the location of the purple block then go right then turn on the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the robot arm to the position of the purple block then to the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Turn on the suction then go to the blue block position

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}]}


Input: Turn off the tip of the suction then go to the location of the blue block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}]}


Input: Move the robot arm to the purple block position then go forward then activate the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot arm to the position of the purple block then to the left

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Activate the edge of the suction then go to the location of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: Move the end effector to the location of the blue block then turn on the suction then go to the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: point the end effector to the next yellow block coordinates towards the left

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Move the end effector to the location of the purple block then go back then turn on the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the robot arm to the purple block position then go left then turn on the sucker

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: turn off the end effector of the suction then move the robot to the purple block then the suction goes to the left

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Slide the robot towards the yellow block then move it towards the front

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Move the robot arm to the position of the purple block then go up then activate the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Go forward and stop Suction Cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot to the location of the purple block then go to the front then stop the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Disable the suction then move the robot arm to the purple block position then go upward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Slide the robot towards the blue block then activate the tip of the suction then go forward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: go ahead then turn on the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Activate the suction then move the robot arm to the purple block position then go left

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Disable the suction then go to the position of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: Move the end effector to the location of the yellow block then upward

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Slide the robot to the location of the blue block then downward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Slide the robot towards the purple block then go right then activate the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the robot arm to the location of the purple block then go right then turn off the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot to the location of the blue block then turn on the suction cup then go upward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Slide the robot towards the blue block then deactivate the tip of the suction then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: go right and then deactivate the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot to the location of the purple block then turn on the tip of the suction then go to the front

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: go ahead then activate the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: go ahead then turn on the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: go backward then turn off the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: move the robot arm to the location of the purple block then to the left

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: go backwards and turn out the suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: go to the left then turn on the suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Activate the suction then move the end effector to the location of the purple block then go to the right

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Stop the tip of the suction then go to the location of the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: Slide the robot to the location of the purple block then go downward then disable the edge of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot to the purple block then the suction goes forward then turn off the end effector of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot arm to the purple block position then go left then activate the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the robot to the blue block then turn off the end effector of the suction then the suction goes back

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Slide the robot towards the yellow block then move it back

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Move the end effector to the location of the purple block then go to the right then deactivate the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: turn on the end effector of the suction then move the robot to the purple block then the suction goes to the left

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Disable the tip of the suction then go to the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: Move the robot arm to the blue block position then activate the suction then go upward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Move the end effector to the location of the blue block then deactivate the suction then go to the front

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: point the end effector to the coordinates of the purple block then go to the top then activate the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: turn on the end effector of the suction then move the robot to the purple block then the suction goes to the right

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Navigate the end effector to the coordinates of the purple block then go upward then stop the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot towards the yellow block then move it to the left

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Turn on the tip of the suction then point the end effector to the coordinates of the purple block then go left

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Move the robot arm to the position of the purple block then go to the left then turn on the sucker

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: go upstairs and turn out the suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the end effector to the location of the yellow block then to the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: go to the front then turn on the sucker

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot to the location of the purple block then go upward then turn off the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot to the blue block then turn on the end effector of the suction then the suction goes forward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: go down then turn on the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Turn off the tip of the suction then go to the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: Turn off the End Effector Effector then go to the blue block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}]}


Input: go left then stop the suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot to the location of the purple block then turn on the tip of the suction then go downward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Slide the robot arm to the yellow block position then upward

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: go back then deactivate the suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot to the location of the blue block then deactivate the tip of the suction then go upward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Slide the robot towards the blue block then turn on the tip of the suction then go up

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Stop the suction cup then move the robot arm to the purple block position then go downward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Slide the robot to the location of the purple block then turn on the tip of the suction then go upward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: go to the right then turn off the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn on the sucker then move the robot arm to the position of the purple block then go upward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Move the robot arm to the location of the purple block then upward

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Move the robot arm to the location of the purple block then go forward then stop the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Stop the suction then move the end effector to the location of the purple block then go backward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Slide the robot arm to the position of the purple block then go downward then disable the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot to the location of the purple block then go to the front then activate the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the robot arm to the position of the purple block then go right then turn on the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot towards the purple block then move it towards the front

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Turn on the suction cup then go to the location of the blue block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}]}


Input: Disable the tip of the suction then slide the robot towards the purple block then go right

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Move the robot to the purple block then the suction goes to the left then activate the End Effector

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: activate the tip of the suction then slide the robot towards the purple block then go up

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Move the robot arm to the purple block position then go up then turn on the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Turn on the suction then move the end effector to the location of the purple block then go to the left

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Move the robot to the location of the blue block then turn on the suction cup then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Slide the robot arm to the position of the purple block then upward

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Slide the robot towards the purple block then move it to the left

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: turn on the suction cup then go to the location of the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: go back then turn off the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot arm to the blue block position and then deactivate the suction then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: go to the front then the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: go upstairs and turn on suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the end effector to the location of the purple block then to the left

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: go to the front then activate the suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot towards the purple block then go left then turn on the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: go ahead then turn on the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Turn off the suction then go to the position of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: Slide the robot towards the yellow block then slide downward

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Slide the robot towards the purple block then go up then turn on the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: go down then stop the suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the end effector to the location of the blue block then turn off the suction then go to the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: point the end effector to the coordinates of the purple block then go to the left then activate the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot to the location of the purple block then deactivate the tip of the suction then go down

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: go backward then turn on the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: point the end effector to the coordinates of the blue block then turn on the tip of the suction then go to the front

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Turn off the sucker then move the robot arm to the purple block position then go to the front

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: point the end effector to the coordinates of the blue block then activate the tip of the suction then go backward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Turn on the suction then go to the position of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: Move the robot arm to the blue block position then activate the sucker then go to the left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: go to the left then the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Activate the suction cup then move the robot to the location of the purple block then go to the front

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Direct the end effector to the next yellow block coordinates towards the top

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Slide the robot towards the blue block then slide backward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Slide the robot towards the blue block then turn on the tip of the suction then go left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Move the robot arm to the location of the blue block then deactivate the Suction Cup then go left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: go back then turn on the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot to the location of the blue block then activate the tip of the suction then go left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Slide the robot arm to the blue block position then turn on the suction cup then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Slide the robot to the location of the blue block then activate the tip of the suction then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: go upstairs and stop the Suction Cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot to the location of the purple block then go downward then activate the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Activate the Suction Cup then go to the location of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: Slide the robot towards the purple block then go forward then deactivate the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot to the purple block then the suction goes to the right then stop the end effector

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: go to the front then deactivate the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot to the location of the blue block then towards the front

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: go left next activate the suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: go down then turn on the suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot arm to the position of the purple block then go to the front then disable the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: disable the suction cup then go to the location of the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: Turn on the sucker then move the robot arm to the purple block position then go to the right

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: point the end effector to the coordinates of the purple block then go to the front then turn on the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide the robot to the location of the purple block then to the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: point the end effector to the coordinates of the blue block then turn on the tip of the suction then go left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Slide the robot to the location of the purple block then go backward then turn off the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot arm to the location of the blue block then to the left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Stop the suction then go to the position of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: Turn on the sucker then move the robot arm to the purple block position then go backward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Move the robot to the location of the purple block then go back then turn off the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: go downward then deactivate the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot to the location of the purple block then go upward then turn on the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Stop the suction then move the end effector to the location of the purple block then go to the right

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Turn on the suction then go to the yellow block position

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: Turn on the tip of the suction then slide the robot towards the purple block then go down

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Move the robot to the location of the yellow block then backwards

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: go upward then the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "top"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Turn off the suction cup then go to the location of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: Move the robot arm to the position of the purple block then go backward then turn on the sucker

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Activate the suction then go to the position of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: go to the front then turn off the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot to the location of the yellow block then downward

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Slide the robot towards the blue block then stop the tip of the suction then go left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Turn off the next suction go to the location of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: point the end effector to the coordinates of the purple block then go to the left then turn on the tip of the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the robot arm to the location of the blue block then turn off the suction cup then go up

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Slide the robot to the location of the blue block then activate the tip of the suction then go to the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Slide the robot towards the yellow block then slide upward

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: go left next turn on the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: point the end effector to the coordinates of the blue block then deactivate the edge of the suction then go downward

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Stop the edge of the suction then go to the location of the yellow block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}


Input: turn on the suction then go to the position of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: activate the suction cup then go to the location of the purple block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 86, "y": 117, "z": 112}}]}


Input: Turn on the suction cup then go to the location of the blue block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}]}


Input: Move the robot to the location of the purple block then go to the front then deactivate the suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn on the suction then move the robot arm to the purple block position then go forward

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Move the robot to the location of the purple block then to the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Move the robot arm to the position of the purple block then go backward then disable the suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot to the location of the blue block then stop the tip of the suction then go left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: go right then turn on the tip of the suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}