Input: Proceed to (269.72, 117.21, -50.19) and then turn on suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 269.72, "y": 117.21, "z": -50.19}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Approach yellow block, shift left, switch on suction, then shift right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Get the robot moving forward

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]}


Input: Go right, descend, then shift to the left

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Hold yellow block, ascend, and deactivate suction cup

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move to the left and grab the orange block

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Go towards the right and then towards the left

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Shift the the robotic arm to the right

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


Input: Position the white block over the yellow one.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go to (312.3, 250.1, -6.8), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 312.3, "y": 250.1, "z": -6.8}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move leftwards and then go up

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Reach (206.87, 166.31, -52.19), go right, deactivate suction, then move down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 206.87, "y": 166.31, "z": -52.19}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move the arm to (2207, -1310, 55).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 2207, "y": -1310, "z": 55}}]}


Input: Turn on suction, travel to (201.38, 238.15, -64.89), go upwards, then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 201.38, "y": 238.15, "z": -64.89}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Get the arm to the right direction 3 times

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


Input: Shift the robot leftward four

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


Input: Shift the robot downward

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}]}


Input: Shift the robot moving forward

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]}


Input: Move forward

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]}


Input: Move to (416.10, 325.90, -145.66)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 416.1, "y": 325.9, "z": -145.66}}]}


Input: Shift the robotic arm to the left four times

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


Input: Move the arm to (1186, -288, 53).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 1186, "y": -288, "z": 53}}]}


Input: Move leftward, go up, and then descend

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Make the arm move to the forward direction twice

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]}


Input: Proceed to (347.28, 99.77, -44.81) and then shift leftwards

Response: {"actions": [{"command": "move_to", "parameters": {"x": 347.28, "y": 99.77, "z": -44.81}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Move the robotic arm to the down four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Go up and then switch on suction cup

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


Input: Go down and then go to (279.62, 149.38, -50.92)

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move_to", "parameters": {"x": 279.62, "y": 149.38, "z": -50.92}}]}


Input: Move the robotic arm to coordinates (280, 140, -50).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 280, "y": 140, "z": -50}}]}


Input: Get the robot arm to go down direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}]}


Input: Place the white block on top of the yellow block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift left, reach white block, turn on suction, and then go up

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Shift leftward and then ascend

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Go to (279.62, 149.38, -50.92) and then descend

Response: {"actions": [{"command": "move_to", "parameters": {"x": 279.62, "y": 149.38, "z": -50.92}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Shift the robot arm to go backward 3 times

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]}


Input: Go leftward and then proceed to (297.18, 137.89, -49.08)

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 297.18, "y": 137.89, "z": -49.08}}]}


Input: Get the robotic arm to go forward

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]}


Input: Move the robotic arm backward

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]}


Input: Move the robot to the up direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}]}


Input: Get the robot arm to go backward

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]}


Input: Navigate to the forward and then to the backward

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "backward"}}]}


Input: Move robotic arm to left 3 times

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


Input: Go to where the white block is located

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]}


Input: Move the robotic arm to the down

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}]}


Input: Get the robot arm to go left direction twice

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


Input: Get hold of the yellow block, ascend upwards, and turn off suction cup

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go to the yellow block position, proceed left, and turn on suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Relocate the white block to the right of the yellow block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Head to (222.19, 185.73, -58.36) and then ascend

Response: {"actions": [{"command": "move_to", "parameters": {"x": 222.19, "y": 185.73, "z": -58.36}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Move to (310.0, 260.0, 5.0), go down, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 310.0, "y": 260.0, "z": 5.0}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Make the arm move to the backward direction four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]}


Input: Turn on suction, travel to (204.29, 240.71, -65.06), go upwards, then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 204.29, "y": 240.71, "z": -65.06}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Get the robot moving backward twice

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]}


Input: Shift the robot in the forward direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]}


Input: Shift the the robotic arm to the backward direction 3 times

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]}


Input: Shift the the robotic arm forward twice

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]}


Input: Shift the the robotic arm to the up

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}]}


Input: Go to the left, go up, and then descend

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Arrange the yellow block to the right of the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move to (435.70, 273.51, -175.76)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 435.7, "y": 273.51, "z": -175.76}}]}


Input: Shift the robotic arm to the up four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Get the arm to the left direction four times

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


Input: Make the robot arm move to the up twice

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Shift the the robotic arm to the left four times

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


Input: Switch off suction.

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


Input: Move robotic arm to backward 3 times

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]}


Input: Navigate to (291.6, 235.0, -13.6), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 291.6, "y": 235.0, "z": -13.6}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robotic arm to the right

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


Input: Navigate the arm to the location of the white block

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]}


Input: Make the robot move to the forward direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]}


Input: Rearrange the position of the yellow block so it's placed at the back of the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Travel to (263.47, 162.85, -53.17) and then turn left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 263.47, "y": 162.85, "z": -53.17}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Shift the robot arm to the down

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}]}


Input: Move the arm to white block

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]}


Input: Go to where the yellow block is positioned

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Shift the robot arm to go left

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


Input: Move towards forward direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]}


Input: Arrange the yellow block to the right of the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the robot backward 3 times

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]}


Input: Go to (223.1, 175.5, -38.2), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 223.1, "y": 175.5, "z": -38.2}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Set the suction cup on.

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


Input: Shift to the left, ascend, then move down

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Use the suction cup to grab the violet block and move it forward.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Get the robot moving left twice

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


Input: Shift the robot to go backward four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]}


Input: Grabbing yellow block, move upwards, and deactivate suction cup

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Make the robotic arm move to the left twice

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


Input: Move left, reach white block, switch on suction, then go up

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Move to the left 3 times

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


Input: Get the robotic arm to go forward four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]}


Input: Shift the yellow block to be in front of the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move downwards and then reach (187.43, 167.82, -54.78)

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move_to", "parameters": {"x": 187.43, "y": 167.82, "z": -54.78}}]}


Input: Turn on the suction cup, move the white block to coordinates (300, 150, -50), then move the yellow block down.

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move_to", "parameters": {"x": 300, "y": 150, "z": -50}}]}


Input: Adjust the yellow block so it's positioned at the rear of the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Capture the yellow block, rise, and then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the the robotic arm to the down four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Go to position towards the yellow block

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Get the robotic arm towards the left direction

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


Input: Position the yellow block to the right of the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the the robotic arm to the down 3 times

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Turn on suction, shift left, rise, then shift right

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


Input: Turn on suction, go left, ascend, then go right

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


Input: Move the robotic arm to coordinates (320, 150, -60).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 320, "y": 150, "z": -60}}]}


Input: Grab the pink block and bring it backward.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Go to yellow block, turn left, activate suction, then turn right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Move to where the white block is and then activate suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Proceed to (271.9, 217.7, -20.3), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 271.9, "y": 217.7, "z": -20.3}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Make the arm move to the yellow block

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Navigate to the position of the white block and then activate suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Get the robot sideways to the up

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}]}


Input: Position the yellow block at the rear of the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go left, go to white block, switch on suction, and then go up

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Move to coordinate (387.67, 621.09, -98.76)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 387.67, "y": 621.09, "z": -98.76}}]}


Input: Shift the robotic arm to go forward 3 times

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]}


Input: Activate the suction cup and move to the white block position

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]}


Input: Stop suction cup.

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


Input: Make the robotic arm to move to yellow block position

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Shift the robotic arm to go left

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


Input: Move towards the down direction twice

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move the violet block and advance its position forward.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Move to the right

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


Input: Move to coordinate (397.77, 321.62, -87.48)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 397.77, "y": 321.62, "z": -87.48}}]}


Input: Get the robot arm to go forward direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]}


Input: Go lower down and then move up

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Turn on suction and proceed to the coordinates of the white block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]}


Input: Go to the location of the blue block and turn on suction.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Move arm to down

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}]}


Input: Shift the robotic arm to the forward direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]}


Input: Make the robotic arm move to the right 3 times

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


Input: Get the robot arm to go down

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}]}


Input: Move to (449.43, 287.68, -183.10)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 449.43, "y": 287.68, "z": -183.1}}]}


Input: Move the robotic arm to coordinates (700, 440, -100).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 700, "y": 440, "z": -100}}]}


Input: Shift the robotic arm to the left 3 times

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


Input: Move the arm towards the right direction

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


Input: Position the white block behind the yellow block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Activate the suction cup and move to the position of the white block

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]}


Input: Head towards the yellow block's position

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Get the robot moving forward twice

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]}


Input: Move to (662.20, 81.70, -62.38)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 662.2, "y": 81.7, "z": -62.38}}]}


Input: Head to (210.84, 172.09, -52.18), shift right, deactivate suction, then descend

Response: {"actions": [{"command": "move_to", "parameters": {"x": 210.84, "y": 172.09, "z": -52.18}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move down and then go up

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Move to (380.90, 360.80, -157.92)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 380.9, "y": 360.8, "z": -157.92}}]}


Input: Shift the robot arm to go left direction four times

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


Input: Move left, ascend, then descend

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Turn on suction cup and then go right

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


Input: Move to coordinate (335.62, 240.16, -73.51)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 335.62, "y": 240.16, "z": -73.51}}]}


Input: Move rightward, go down, then proceed to the left

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Go left, go to white block, activate suction, then go up

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Activate suction, go to (235.17, 227.98, -62.09), ascend, then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 235.17, "y": 227.98, "z": -62.09}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift to the left, ascend, then move down

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move upward, then downward, shift left, and finally shift right

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Reach yellow block, move left, activate suction, then move right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Move to (314.52, 125.73, -47.37) and then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 314.52, "y": 125.73, "z": -47.37}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move to (314.52, 125.73, -47.37) and then ascend

Response: {"actions": [{"command": "move_to", "parameters": {"x": 314.52, "y": 125.73, "z": -47.37}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Make the arm move to the left twice

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


Input: Get the robot moving right twice

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


Input: Navigate to (664.2, 548.5, 108.0), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 664.2, "y": 548.5, "z": 108.0}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Activate suction and then navigate to (235.17, 149.78, -55.29)

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 235.17, "y": 149.78, "z": -55.29}}]}


Input: Activate suction, proceed to location (203.76, 234.76, -61.61), go upwards, then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 203.76, "y": 234.76, "z": -61.61}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn on suction, shift left, climb, then shift right

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


Input: Approach yellow block, turn left, turn on the suction, then turn right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Take possession of yellow block, go up, and then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Make the robotic arm move to the up

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}]}


Input: Make the arm move to the up 3 times

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Move the arm towards the up direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}]}


Input: Go to white block position and then activate suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Shift the robotic arm to the right

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


Input: Direct the robot arm to yellow block position

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Turn on suction cup and navigate up

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


Input: Turn on suction cup and proceed right

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


Input: Proceed left and then activate suction cup

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


Input: Get the robot moving backward four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]}


Input: Move the white block to the right of the yellow block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Proceed to (224.01, 155.98, -53.56), shift right, turn off suction, then descend

Response: {"actions": [{"command": "move_to", "parameters": {"x": 224.01, "y": 155.98, "z": -53.56}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Head to (212.84, 163.47, -52.55), shift right, deactivate suction, then descend

Response: {"actions": [{"command": "move_to", "parameters": {"x": 212.84, "y": 163.47, "z": -52.55}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Shift the robot moving backward twice

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]}


Input: Shift right and then go up

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Get the robotic arm to the right

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


Input: Head towards the yellow block

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Move towards the left direction

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


Input: Move to coordinate (325.37, 226.84, -70.96)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 325.37, "y": 226.84, "z": -70.96}}]}


Input: Reach yellow block, navigate left, and activate suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move the robotic arm to coordinates (330, 170, -70).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 330, "y": 170, "z": -70}}]}


Input: Move to the up

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}]}


Input: Reposition the yellow block forward of the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn on suction cup and navigate left

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


Input: Go to (219.46, 157.84, -53.37), move right, turn off suction, then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 219.46, "y": 157.84, "z": -53.37}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move to the position of the yellow block

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Ascend, take possession of white block, and deactivate suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robotic arm right

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


Input: Set suction cup on.

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


Input: Adjust the position of the yellow block in front of the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Take hold of yellow block, go up, and then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move upward, then downward, shift left, and finally shift right

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Adjust the position of the yellow block so it's behind the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Proceed to (250.0, 200.0, -25.0), turn right, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 250.0, "y": 200.0, "z": -25.0}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move right and then turn on suction cup

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


Input: Use the suction cup to grab the pink block and move it forward.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Activate suction, go left, ascend, then go right

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


Input: Shift the robotic arm towards down direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}]}


Input: Move arm to right four times

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


Input: Move rightward, descend, then shift to the left

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Move to (210.53,22.86,-50.41)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 210.53, "y": 22.86, "z": -50.41}}]}


Input: Shift the robotic arm to go left twice

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


Input: Move to the right

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


Input: Turn on suction cup and then go to the white block coordinates

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]}


Input: Move left then descend

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move robotic arm to the left twice

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


Input: Move to coordinate (315.91, 212.53, -68.57)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 315.91, "y": 212.53, "z": -68.57}}]}


Input: Switch on suction, move to position (234.38, 214.07, -58.33), ascend, then switch off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 234.38, "y": 214.07, "z": -58.33}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move to (209.56, 178.21, -56.92) and then go upwards

Response: {"actions": [{"command": "move_to", "parameters": {"x": 209.56, "y": 178.21, "z": -56.92}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Shift the robotic arm to the right

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


Input: Turn on suction, go left, go up, go right

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


Input: Shift left, move to white block, turn on suction, then go up

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Navigate to (350.0, 300.0, 25.0), go down, and then turn off suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 350.0, "y": 300.0, "z": 25.0}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Activate the suction cup.

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


Input: Switch on suction, move to position (228.42, 204.71, -57.92), ascend, then switch off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 228.42, "y": 204.71, "z": -57.92}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move towards the left and then towards the right

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Move to coordinate (514.15, 480.54, -138.11)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 514.15, "y": 480.54, "z": -138.11}}]}


Input: Rearrange the yellow block's position to the rear of the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go to (345.2, 275.8, 3.4), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 345.2, "y": 275.8, "z": 3.4}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the arm to the spot where the yellow block is located.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Make the robotic arm move to the forward direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]}


Input: Go right, go down, go left

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Move to coordinate (503.96, 465.01, -131.89)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 503.96, "y": 465.01, "z": -131.89}}]}


Input: Head towards the location of the yellow block

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Shift the robot to go right four times

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


Input: Proceed to the white block's position

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]}


Input: Take possession of the yellow block, rise, and then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move upwards and then turn on suction cup

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


Input: Move the yellow block ahead of the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Make the arm move to the up four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Head right and then elevate upwards

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Move the robotic arm to coordinates (410, 280, -105).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 410, "y": 280, "z": -105}}]}


Input: Make the arm move to the right twice

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


Input: Navigate to yellow block

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Move the arm on the left of orange block

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Secure yellow block, ascend, and switch off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Start suction.

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


Input: Shift the robot to go right twice

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


Input: Stack the yellow block onto the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Get the robotic arm to the right 3 times

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


Input: Move the arm to (3219, -2335, 61).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 3219, "y": -2335, "z": 61}}]}


Input: Get the robot backward

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]}


Input: Make the arm move to violet block location

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Move robotic arm to up twice

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Lower the robotic arm

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}]}


Input: Move leftwards and then turn on suction cup

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


Input: Switch the suction cup off.

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


Input: Get the robotic arm to go down 3 times

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Relocate the yellow block to be ahead of the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robotic arm to coordinates (400, 240, -85).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 400, "y": 240, "z": -85}}]}


Input: Switch on suction, move to position (236.18, 217.97, -58.65), ascend, then switch off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 236.18, "y": 217.97, "z": -58.65}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Make the robot move to the right twice

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


Input: Turn on suction cup and shift to the up direction

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


Input: Approach (226.21, 145.21, -54.18), shift right, switch off suction, then shift down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 226.21, "y": 145.21, "z": -54.18}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move the arm to (1078, -180, 45).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 1078, "y": -180, "z": 45}}]}


Input: Shift the robotic arm to go left four times

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


Input: Shift the the robotic arm left 3 times

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


Input: Turn on suction, shift left, rise, then shift right

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


Input: Get the robot to go down four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Shift the robotic arm to the down four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Go towards (197.07, 175.62, -51.44), shift right, turn off suction, then descend

Response: {"actions": [{"command": "move_to", "parameters": {"x": 197.07, "y": 175.62, "z": -51.44}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Get the the robotic arm forward four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]}


Input: Turn on suction and proceed to (248.44, 137.32, -53.87)

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 248.44, "y": 137.32, "z": -53.87}}]}


Input: Take the orange block and move it in the forward direction.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Navigate to (263.4, 209.4, -23.7), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 263.4, "y": 209.4, "z": -23.7}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Grab blue block and shift it to the right.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Shift the arm towards the right direction

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


Input: Proceed to yellow block position, go left, and turn on suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move in the left direction

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


Input: Move the robotic arm to coordinates (310, 180, -55).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 310, "y": 180, "z": -55}}]}


Input: Activate suction, proceed to location (199.68, 230.54, -61.25), go upwards, then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 199.68, "y": 230.54, "z": -61.25}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move to (209.56, 178.21, -56.92) and then shift towards the right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 209.56, "y": 178.21, "z": -56.92}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Head the arm to the area containing the yellow block

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Move upward, then downward, shift left, and finally shift right

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Activate suction, go to (221.32, 231.32, -62.09), ascend, then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 221.32, "y": 231.32, "z": -62.09}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the robot rightward twice

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


Input: Reach yellow block, shift left, activate suction, then move right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Grasp the blue block and push it forward.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Go right, move downwards, then proceed to the left

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Activate suction, go left, ascend, then go right

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


Input: Let the suction on.

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


Input: Get the robot arm to go down direction twice

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Go up, then go down, move left, and finally go right

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Position the white block atop the yellow one.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the robotic arm towards the backward direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]}


Input: Grab red block and shift it to the right.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Move towards the forward direction four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]}


Input: Activate suction, shift left, climb, then shift right

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


Input: Travel down and then switch on suction cup

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


Input: Reach (205.96, 167.89, -52.01), go right, deactivate suction, then move down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 205.96, "y": 167.89, "z": -52.01}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move right then ascend

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Proceed to the location of the yellow block, then move left, and turn on suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Go right, descend, then shift to the left

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Make the arm move to the down 3 times

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Get the arm to the down

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}]}


Input: Get down and then go upwards

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Grab the orange block and move it forward.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Reach (205.96, 167.89, -52.01), go right, deactivate suction, then move down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 205.96, "y": 167.89, "z": -52.01}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move to (240.60, 133.48, -54.85), shift right, deactivate suction, then descend

Response: {"actions": [{"command": "move_to", "parameters": {"x": 240.6, "y": 133.48, "z": -54.85}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move to the left twice

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


Input: Go towards (197.97, 174.62, -51.50), shift right, turn off suction, then descend

Response: {"actions": [{"command": "move_to", "parameters": {"x": 197.97, "y": 174.62, "z": -51.5}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move arm to the left 3 times

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


Input: Grab pink block and shift it to the right.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Go right and then move down

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move upwards, grab the white block, and turn off suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Make the robot move to the down direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}]}


Input: Move the robotic arm to the forward direction four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]}


Input: Reach yellow block, proceed left, and activate suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Turn on suction, shift left, rise, then shift right

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


Input: Shift the robotic arm to the left

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


Input: Travel to the white block's position

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]}


Input: Direct the arm to white block

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]}


Input: Go to yellow block, shift left, activate suction, then shift right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Move the robotic arm down

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}]}


Input: Shift the robotic arm to the left

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


Input: Move the arm backward

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]}


Input: Direct the arm to white block position

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]}


Input: Move the robotic arm to the forward direction twice

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}, {"command": "move", "parameters": {"direction": "forward"}}]}


Input: Shift the robot sideways to the left

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


Input: Go to the white block's position

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]}


Input: Move backward and then forward

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "forward"}}]}


Input: Go right, move downwards, then proceed to the left

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Turn on suction, move left, go upwards, then go right

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


Input: Get the orange block and shift it to the left.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Make the pink block forward of the green block

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Make the arm move to the backward direction 3 times

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]}


Input: Shift left, move to white block, turn on suction, then go up

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Get the the robotic arm right twice

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


Input: Shift the the robotic arm to the up four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Ascend, take possession of white block, and deactivate suction

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the arm to (4689, -3806, 56).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 4689, "y": -3806, "z": 56}}]}


Input: Get the robotic arm to go right 3 times

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


Input: Shift left, move to white block, switch on suction, then go up

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Go up, then descend, go left, and finally shift right

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Get the the robotic arm right 3 times

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


Input: Head toward the position of the white block

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]}


Input: Go left, go to white block, switch on suction, and then go up

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Pick up the yellow block, move upwards, and then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Make the robot move to the backward direction direction twice

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]}


Input: Disable the suction.

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


Input: Pick up the violet block and moving it forward.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Go to (498.6, 408.1, 54.0), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 498.6, "y": 408.1, "z": 54.0}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go to (214.58, 156.49, -53.17), move right, turn off the suction, then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 214.58, "y": 156.49, "z": -53.17}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Navigate to (540.0, 442.7, 67.5), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 540.0, "y": 442.7, "z": 67.5}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn on suction cup and move rightwards

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


Input: Make the red block forward of the green block

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Get the the robotic arm to the right twice

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


Input: Stack the yellow block over the white one.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Place the arm to the white block location

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}]}


Input: Get the the robotic arm to the down four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Place the yellow block on the right of the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move robotic arm to the right twice

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


Input: Go to the location of the violet block and turn on suction.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Reach yellow block, move left, turn on suction, and then move right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Shift the robotic arm to the left twice

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


Input: Move rightward, move downwards, then shift to the left

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Approach (227.41, 144.19, -54.07), shift right, switch off suction, then shift down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 227.41, "y": 144.19, "z": -54.07}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move left, move to white block, activate suction, then go up

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Direct the arm to yellow block position

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Get the the robotic arm up 3 times

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Shift the robot moving left twice

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


Input: Approach yellow block, go left, turn on suction, then go right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Go to yellow block, move left, turn on the suction, and then go right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Move the robotic arm to coordinates (600, 400, -120).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 600, "y": 400, "z": -120}}]}


Input: Shift the robot to go left four times

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


Input: Turn on suction cup and proceed to go down

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


Input: Get the robot moving left

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


Input: Shift the robotic arm to the down twice

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Grasp the yellow block, ascend upwards, and turn off suction cup

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go left, go to white block, switch on suction, and then go up

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "up"}}]}


Input: Switch on suction, move to position (237.65, 216.78, -58.5), ascend, then switch off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 237.65, "y": 216.78, "z": -58.5}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Relocate the white block to the right of the yellow block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Navigate to (697.1, 573.9, 118.2), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 697.1, "y": 573.9, "z": 118.2}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the robot arm to go forward direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "forward"}}]}


Input: Move the robotic arm to coordinates (300, 170, -58).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 300, "y": 170, "z": -58}}]}


Input: Get to yellow block, go left, switch on suction, then go right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Rearrange the yellow block's position to the back of the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Navigate to (206.7, 158.4, -46.3), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 206.7, "y": 158.4, "z": -46.3}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go to (684.9, 566.2, 114.8), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 684.9, "y": 566.2, "z": 114.8}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Place the arm to the yellow block location

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Turn on suction, move to (205.84, 189.27, -60.15), go up, and turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 205.84, "y": 189.27, "z": -60.15}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift down and then turn on suction cup

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


Input: Shift the robot to go backward 3 times

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]}


Input: Get the the robotic arm to the left 3 times

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


Input: Turn on suction cup and head left

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


Input: Move to the left, ascend, then descend

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Turn on suction, shift left, rise, then shift right

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


Input: Position the white block over the yellow one.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Make the arm move to blue block location

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Move the robotic arm to the backward direction twice

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]}


Input: Position the yellow block atop the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move upward, then downward, shift left, and finally shift right

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Activate suction and then proceed to the yellow block position

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Shift the robot to go down four times

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Go backward then forward

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "forward"}}]}


Input: Grab green block and shift it to the right.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}


Input: Shift right, descend, then move to the left

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "left"}}]}


Input: Shift the robot to go backward twice

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}, {"command": "move", "parameters": {"direction": "backward"}}]}


Input: Approach yellow block, shift left, switch on suction, then shift right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Get the arm to the down direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}]}


Input: Transfer the yellow block so it's in front of the white block.

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "move", "parameters": {"direction": "forward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go to (340.0, 290.0, 20.0), go up, and then turn off suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 340.0, "y": 290.0, "z": 20.0}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the robot in the up direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}]}


Input: Move towards the down direction 3 times

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Approach yellow block, turn left, turn on the suction, then turn right

Response: {"actions": [{"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}]}


Input: Move the robotic arm to coordinates (650, 420, -110).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 650, "y": 420, "z": -110}}]}


Input: Shift left and then proceed to (209.56, 178.21, -56.92)

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 209.56, "y": 178.21, "z": -56.92}}]}


Input: Head to (211.22, 163.57, -52.49), shift right, switch off suction, then shift down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 211.22, "y": 163.57, "z": -52.49}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Activate the suction cup and move to the yellow block position

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}]}


Input: Shift the robot arm to go left direction 3 times

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


Input: Move to (627.00, 116.60, -74.00)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 627.0, "y": 116.6, "z": -74.0}}]}


Input: Get the robotic arm towards the backward direction

Response: {"actions": [{"command": "move", "parameters": {"direction": "backward"}}]}


Input: Go to red block location.

Response: {"actions": [{"command": "err_msg", "parameters": {"msg": "cannot generate plan using current condition"}}]}