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: Move the robot arm to the purple block position 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: Turn off 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: Move the robot to the purple block then the suction goes to the left then turn on 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 suction cup 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: 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: Move the robot arm to the position of the purple block then go backward then activate 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: Slide the robot arm to the yellow block position then downward

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


Input: Turn on the edge 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": "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 purple block position then go to the front then turn off 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": "off"}}]}


Input: Turn on the tip of the suction 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 end effector 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: Move the robot arm to the blue block position then to the right

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


Input: Slide the robot arm to the position 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: Move the robot arm to the purple block position then go forward then stop 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: Stop the end effector of the suction 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: Slide the robot to the location of the blue block then backwards

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


Input: Move the robot to the blue block then stop the end effector of the suction then the suction goes to the top

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: go back then turn on the end effector of the suction

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


Input: move the robot arm 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 arm to the position of the purple block then towards the front

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


Input: Move the robot to the purple block then the suction goes up then stop the end effector 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 to the location of the purple block then turn on the tip of the suction 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 end effector to the location of the purple block then go backward 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 to the blue block then activate 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 towards the purple block then move it back

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


Input: go to the left and activate the suction cup

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


Input: Stop the suction then go to the blue block position

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


Input: Move the robot 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: Stop 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": "off"}}, {"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 location of the purple block then go up 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: Disable the suction then move the robot arm to the purple block position 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: disable the next suction cup 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 tip of the suction then slide the robot towards 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: Activate 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 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: Stop 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 to the blue block then to the right

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


Input: Move the robot arm to the blue block position then stop 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": "off"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Activate the end effector of the suction then move the robot to the purple block then the suction goes 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 end effector to the location of the purple block then go to the right then activate 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 left and turn on Suction Cup

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


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

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


Input: Move the end effector to the location of the blue block then stop 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: Activate 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 blue block then turn off 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": "off"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: go left and then deactivate 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 activate 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: move the robot to the purple block then toward the left

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


Input: Move the end effector to the location of the purple block then go to the 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: Move the end effector to the location of the purple block then go to the 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: Turn off the suction then move the robot arm to the purple block position 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: disable 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: go to the right then the tip of the suction

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


Input: Turn on the tip 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: Slide the robot to the location of the purple block then go left 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": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot to the blue block then deactivate 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: 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: Slide the robot towards the blue block then stop the tip of the suction then go 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 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: Turn off the suction then go to the yellow block position

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


Input: Go to the left then turn off Suction Cup

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


Input: Move the robot arm to the location of the blue block then stop 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: point the end effector to the coordinates of the blue block then turn off 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": "off"}}, {"command": "move", "parameters": {"direction": "back"}}]}


Input: Slide the robot to the location of the purple block then deactivate the tip of the suction 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: Move the robot to the purple block then the suction goes to the left then stop 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": "off"}}]}


Input: go to the left then disable the suction

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


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

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


Input: go to the right then deactivate the suction

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


Input: go to the front then activate the suction

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


Input: Move the robot arm to the purple block position then go left then turn off 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 arm 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 backwards

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


Input: Move the robot to the location of the purple block then go downward then turn on 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: Move the end effector to the location of the purple block then go to the right then turn off 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 backward then turn on the sucker

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


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 towards the blue block then turn off 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: Turn on the suction cup then move the robot arm to the location 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: point the end effector to the coordinates 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: 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: Slide the robot towards the purple block then go down 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": "bottom"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Slide 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: Disable the edge 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: point the end effector to the next blue block coordinates towards the top

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 blue block then activate the end effector of the suction then the suction goes 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: Slide the robot arm to the blue block position 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 activate the suction cup

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


Input: Move 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: Activate 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: Move the end effector to the location of the blue block then deactivate 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: Move the robot arm to the location of the blue block then activate 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": "on"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Stop 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: Go to the left then stop the Suction Cup

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


Input: Activate 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 position of the purple block then go to the left then disable 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: Slide the robot to the location of the purple block then deactivate 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: Stop the sucker then move the robot arm to the purple block position then go 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: Move the robot arm to the blue block position then turn off 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 then turn on the end effector of the suction

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


Input: Turn off the suction then move the robot arm to the purple block position 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 to the top then activate the tip of the suction

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


Input: Move the robot to the blue block then stop 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": "off"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: turn off the suction cup 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 to the purple block then the suction goes to the left 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": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn off the End Effector Effector 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: Activate 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: Slide the robot arm to the blue block position 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: turn on the end effector of the suction then move the robot to the purple block then the suction goes 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 downward

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


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

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


Input: Activate the sucker then move the robot arm to the purple block position 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 to the location of the purple block then towards the front

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


Input: Slide the robot to the location of the purple block then go backward 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": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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

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


Input: point the end effector to the coordinates of the blue block then turn on 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": "on"}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Direct the End Effector to the next purple block coordinates towards the front

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


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: Move the robot arm to the blue block position 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: Move the end effector to the location of the purple block then go to the front then stop 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 location 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: Move the end effector 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 arm to the purple block position 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: Move the robot arm to the blue block position then turn on 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: point the end effector to the coordinates of the purple block then go to the front 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": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn off the edge 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: Move the robot arm to the blue block position then turn on 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 blue block then turn on 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: Turn on the suction then move the robot arm to the purple block position then go 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 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 on 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: Move the robot to the blue block then deactivate the end effector of the suction then the suction goes to the top

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: go upstairs then disable the suction cup

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


Input: Slide the robot 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: Move the end effector to the location of the blue block then activate 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: Move the robot arm to the yellow block position 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 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: Move the robot arm to the purple block position then go to the right then stop 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: turn on the end effector of the suction then move the robot to the purple block then the suction goes 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: Move the robot arm to the purple block position then go left then activate 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: Move the robot to the purple block then the suction goes to the left then turn on 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: Turn on the tip of the suction 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: Turn off the next suction 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: Stop the end effector of the suction then move the robot to the purple block then the suction goes 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 tip of the suction 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: Move the robot arm to the location of the blue block then activate the suction cup 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: point the end effector to the coordinates of the blue block then deactivate the edge 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: disable 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: Go backwards then activate Suction Cup

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


Input: Move the end effector to the location of the blue block then deactivate 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: Activate 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: move the robot to the purple block then toward the bottom

Response: {"actions": [{"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 location of the blue block then turn on the suction cup then go 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: Activate 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: go down then deactivate the end effector of the suction

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


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: go right then stop the suction

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


Input: Stop the suction then go to the blue block position

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


Input: Stop the suction then go to the yellow block position

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 forward 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: Slide the robot towards the blue block then slide downward

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


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

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


Input: disable the suction then move the robot arm to the purple block position 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: 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 blue block then deactivate 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": "off"}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: go to the front then turn on the suction

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


Input: Stop 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: 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: activate 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 blue block position 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 next blue block coordinates towards the bottom

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


Input: Move the robot to the location of the purple block then go down then stop 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 blue block then turn on 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: Turn on 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": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: go backward then the tip of the suction

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


Input: Go downstairs and turn out the Suction Cup

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


Input: Going toward the front then stop the Suction Cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "front"}}, {"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 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: point the end effector to the next yellow block coordinates towards the bottom

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


Input: move the robot to the blue block then toward 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 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 then go to the blue block position

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


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

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: move the robot to the purple block then toward the top

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


Input: Stop 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": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Slide the robot to the location of the purple block then stop 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: Move the robot arm to the blue block position then turn on 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: Turn on the tip 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": "on"}}, {"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 blue block then deactivate 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 tip of the suction then slide the robot towards the purple block 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: Move the robot arm to the blue block position then turn on 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: Move the robot arm to the blue block position 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 tip of the suction then go to 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 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: Activate the end effector of the suction then move the robot to the purple block then the suction goes 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: Turn on the next suction cup 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: Turn on the tip of the suction 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: turn on the suction cup then move the robot arm to the location of the purple block 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: go to the right then deactivate the tip of the suction

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


Input: Move the robot to 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: Turn off the next suction 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: Slide 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: Move the end effector to the location of the purple block then go backward then stop 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: Turn off 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: Turn on the suction cup 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: Move 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: Turn on the driver 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: Slide the robot towards the blue block then stop 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: turn off the suction cup then move the robot arm 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: Slide the robot arm to the blue block position then to the right

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


Input: Move the robot arm to the location of the purple block then go up 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: disable the suction cup then move the robot to the location of the purple block then go backwards

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: Move the end effector to the location of the purple block then go to the front 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: Stop the suction cup 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: Turn off the suction cup 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: go left then turn on the end effector of the suction

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


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

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: Turn on the tip of the suction then go to the blue block

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


Input: point the end effector to the coordinates of the purple block then go to the right 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": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Disable 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: Turn on the tip of the suction 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: point the end effector to the next blue block coordinates towards the front

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


Input: Move the end effector 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: Turn off the suction then go to the blue block position

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


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

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


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: Slide the robot arm to the blue block position then stop the suction cup 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: Move the robot to the location of the yellow block then to 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 to the location of the purple block then go to the 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: Slide the robot to the location of the blue block then activate 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: Go to the right then activate the Suction Cup

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


Input: Slide the robot arm to the position 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: Activate the suction then go to the position 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 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: turn on 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": "on"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Slide the robot to the location of 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: Turn off the suction then move the end effector to the location of the purple block 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: Turn on the suction cup then move the robot to the location 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: disable the next suction 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 end effector to the location of the purple block then go to the left then stop 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: go ahead then deactivate the tip of the suction

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


Input: point the end effector to the coordinates of the purple block then go to the 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: Move the robot arm to the blue block position then stop the sucker then go 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: activate the tip of the suction 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: go left then stop the suction

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


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

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


Input: Turn on the driver 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 end effector of the suction then move the robot to the purple block then the suction goes 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 downward then turn on the sucker

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 deactivate 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 back then turn on the suction cup

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


Input: Slide the robot arm to the blue block position then activate 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: Move the robot arm to the blue block position then turn on the suction 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: Move the robot arm to the position of the purple block then go to the right then turn on 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": "on"}}]}


Input: go to the front then activate the suction cup

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


Input: point the end effector to the coordinates of the purple block then go backwards then turn on 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": "on"}}]}


Input: point the end effector to the coordinates of the blue block then activate the tip 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": "on"}}, {"command": "move", "parameters": {"direction": "bottom"}}]}


Input: Move the end effector to the location of the purple block then go to the front then turn off 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: Stop the suction cup then move the robot arm to the purple block position 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 suction then move the robot arm to the purple block position then go back

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 blue block position then stop 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": "off"}}, {"command": "move", "parameters": {"direction": "top"}}]}


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

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


Input: point the end effector to the coordinates of the purple block then go downward 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 robot arm to the position of the purple block then go right then disable 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: Move the end effector 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: go back then turn on the suction cup

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


Input: Stop the tip of the sucker 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 turn on the suction

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


Input: Slide the robot 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: go back then stop the suction

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


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

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 to the front 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": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robot arm to the location of the purple block then go left then stop 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": "off"}}]}


Input: Activate the edge 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: Stop the tip of the sucker 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: 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: point the end effector to the coordinates of the blue block then turn on 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: go downward then turn off the suction

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


Input: Move the robot arm to the location of the blue block then activate the suction cup then go 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: Stop the suction then move the robot arm to the purple block position 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: 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 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: turn off 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: Turn on the suction then move the end effector to the location 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: Turn on the suction then move the robot arm to the purple block position 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: Stop the sucker 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: disable the suction cup then move the robot arm to the purple block position 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 and then turn the suction cup

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


Input: disable the suction then go to the blue block position

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 blue block position then turn on 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: Move the robot arm to the purple block position then go forward then turn on 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 location of the purple block then then go back then activate 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: Move the robot arm to the location of the blue block then stop the suction cup then go 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 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: Move the robot to the location of the blue block then stop 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: Stop 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: 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: Slide the robot 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: go left then deactivate the end effector of the suction

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


Input: Disable 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: Move the robot arm to the blue block position then turn off 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: Stop Suction Cup then move the robot to a purple block location then go backwards

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: Move the end effector to the location of the yellow block then to 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 to the location of the blue block then stop 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": "off"}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Move the robot arm 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: Turn off the edge 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": "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 blue block then turn on 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: Move the robot arm to the location of the purple block then go back 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: Move the robot to the location of the blue block then turn on the suction cup 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: Move the robot to the blue block then stop 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 effector of the suction then move the robot to the purple block then the suction goes back

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: Activate the next suction to 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 next suction cup go to the blue block location

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


Input: Move the robot to the blue block then turn on the end effector of the suction then the suction goes 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: Move the robot arm to the location of the blue block then turn on 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": "on"}}, {"command": "move", "parameters": {"direction": "top"}}]}


Input: Move the robot arm to the blue block position then activate 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: Turn off 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": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "front"}}]}


Input: Navigate the end effector to the coordinates of the purple block then go to the left 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": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Slide the robot arm to the position of the purple block then go backward 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: Move the robot to the location of the purple block then go to the front 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: point the end effector to the coordinates 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: go forward and then deactivate the suction

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


Input: Activate the next suction to 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 then move the robot arm to the purple block position 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: Move the robot arm 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: activate the tip of the suction 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: Move the robot arm to the blue block position then upward

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


Input: Turn off the edge 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 arm to the position of the purple block then go upward then activate the sucker

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: Activate the end effector of the suction and 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: activate the tip of the suction then go to 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 location of the purple block then go right then stop 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: point the end effector to the coordinates 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: go to the top then stop the tip of the suction

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


Input: go to the front then deactivate the suction

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


Input: Turn off the Suction Cup 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: Turn off the tip of the suction then slide the robot towards 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: go back then turn on the suction

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


Input: Disable the End Effector's End Effector 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: Slide the robot to the location of the blue block then activate 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": "on"}}, {"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: disable the suction then move the robot arm to the purple block position 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: Move the robot to the location of the purple block then go upward then turn off 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 to the location of the purple block then stop 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: point the end effector to the coordinates of the blue block then turn on the tip of the suction then go backwards

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: disable the suction cup 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: 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 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": "off"}}, {"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Move the end effector to the location of the purple block then go backward then activate 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 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"}}]}