Input: Shift the robot arm to go up direction

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


Input: Move to (261.22, 76.38, -68.41)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 261.22, "y": 76.38, "z": -68.41}}]}


Input: Make the robot move 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: Go to green block coordinate and move rightward.

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: Make the robot move to the up 3 times

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


Input: Get the arm to the forward direction direction twice

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


Input: Move to (462.16, 301.82, -190.44)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 462.16, "y": 301.82, "z": -190.44}}]}


Input: Move towards the up direction

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


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: Get 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 on suction, navigate to position (216.27, 219.96, -58.66), move upward, then switch off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 216.27, "y": 219.96, "z": -58.66}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Grasp 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: Move the robotic arm to the right twice

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


Input: Move the robotic arm down

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


Input: Turn on suction cup and move upwards

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


Input: Shift the position of 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: Shift the the robotic arm 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 to (335.71, 167.37, -115.94)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 335.71, "y": 167.37, "z": -115.94}}]}


Input: Go downward and then turn on suction cup

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


Input: Reach (297.18, 137.89, -49.08) and then go leftward

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


Input: Go left and then move up

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


Input: Go to yellow block location, go 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: Get the the robotic arm to the right

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


Input: Relocate 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 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: Head towards the white block

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


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: Navigate to where the yellow block is located

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


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: Shift the robot moving right twice

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


Input: Get the robotic arm to the forward direction 3 times

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


Input: Make the robot move to the forward direction twice

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


Input: Move to the position of the yellow block, then move left, and activate 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: Make the robotic arm move to the down twice

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


Input: Move upwards and then proceed to (242.81, 174.99, -55.73)

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"command": "move_to", "parameters": {"x": 242.81, "y": 174.99, "z": -55.73}}]}


Input: Reach the location of the yellow block

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


Input: Get the robot to the down direction

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


Input: Move the robotic arm to coordinates (750, 460, -90).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 750, "y": 460, "z": -90}}]}


Input: Adjust 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: Shift the robot leftward

Response: {"actions": [{"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: Approach 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: Turn on suction, reach coordinates (244.51, 237.95, -64.82), move upwards, then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 244.51, "y": 237.95, "z": -64.82}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn on suction cup and move downwards

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


Input: Enable suction cup.

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


Input: Move sideways to the forward direction

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


Input: Proceed leftward followed by an downward elevation

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


Input: Proceed down and then activate suction cup

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


Input: Get the the robotic arm to the backward direction twice

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


Input: Make the arm move 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 backward twice

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


Input: Disable suction cup.

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


Input: Move sideways to the backward direction

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


Input: Move to coordinate (666.92, 456.87, -294.76)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 666.92, "y": 456.87, "z": -294.76}}]}


Input: Move the arm to coordinates of the yellow block

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


Input: Move the robotic arm to coordinates (440, 280, -105).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 440, "y": 280, "z": -105}}]}


Input: Shift the robot forward twice

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


Input: Move the robot to the forward direction direction

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


Input: Take custody 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: Turn suction on.

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


Input: Shift to the right and then shift towards the left

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


Input: Get the robot arm to go 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: Get the robot arm to go forward

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


Input: Turn on suction cup and navigate down

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


Input: Get the robot arm to go left direction

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


Input: Get the robot arm 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: Move 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 robot arm to go right 3 times

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


Input: Move to (486.40, 256.10, -121.41)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 486.4, "y": 256.1, "z": -121.41}}]}


Input: Proceed to (309.62, 82.63, -46.1) and then activate suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 309.62, "y": 82.63, "z": -46.1}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Make the robot move to the right

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


Input: Proceed to (330.0, 280.0, 15.0), turn right, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 330.0, "y": 280.0, "z": 15.0}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Get the robotic arm towards the right direction

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


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: Head up and then switch on suction cup

Response: {"actions": [{"command": "move", "parameters": {"direction": "up"}}, {"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 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: Move arm to the forward direction 3 times

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


Input: Shift the robot leftward 3 times

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


Input: Turn on suction, reach coordinates (235.09, 233.99, -63.34), move upwards, then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 235.09, "y": 233.99, "z": -63.34}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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

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: Get the robot to go down twice

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


Input: Get 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: 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: Head down and then switch on suction cup

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


Input: Get the robotic arm towards forward direction

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


Input: Turn on suction, travel to (211.53, 246.51, -65.74), go upwards, then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 211.53, "y": 246.51, "z": -65.74}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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

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

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


Input: Move to the right twice

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


Input: Slide 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: Get 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: Shift the robotic arm towards left direction

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


Input: Stop the suction cup.

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


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 robot in the right direction

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


Input: Shift the robot moving down 3 times

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


Input: Grasp the violet block and push it forward.

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


Input: Rearrange the yellow block to be 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: Move 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: Get the robot to go up

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


Input: Switch off the suction.

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


Input: Turn suction cup off.

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


Input: Get the robotic arm towards the forward direction

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


Input: Get the arm to the backward direction 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: Rearrange the position of the yellow block so it's 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: Get the black block and shift it to the left.

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


Input: Get the arm towards the left direction

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


Input: Go down and then go up

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


Input: Travel right and then switch on suction cup

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


Input: Get the arm to the right direction

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


Input: Move robotic arm to 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: 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: Proceed to the coordinates of the yellow block

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


Input: Switch off suction cup.

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


Input: Head to yellow block position, move 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: Seize 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: Make the blue block move forward.

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


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: Move sideways to the right

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


Input: Get the robotic arm to go up twice

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


Input: Get the robot arm to the down

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


Input: Approach (232.15, 143.91, -54.17), shift right, switch off suction, then shift down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 232.15, "y": 143.91, "z": -54.17}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Get the robotic arm towards the down direction

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


Input: Take hold of the 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: Go right, then go down

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


Input: Descend and then head to (330.91, 112.86, -46.02)

Response: {"actions": [{"command": "move", "parameters": {"direction": "down"}}, {"command": "move_to", "parameters": {"x": 330.91, "y": 112.86, "z": -46.02}}]}


Input: Go right and then switch on suction cup

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


Input: Move to coordinate (621.98, 449.83, -317.12)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 621.98, "y": 449.83, "z": -317.12}}]}


Input: Shift the robotic arm to the down

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


Input: Transfer the white block to the right side 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: Move the robotic arm to the forward direction 3 times

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


Input: Set the suction cup off.

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


Input: Activate suction and then navigate to where the white block is

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


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

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


Input: Shift the the robotic arm 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: 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: Shift to the backward and then shift towards the forward

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


Input: Go right and then move up

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


Input: Shift the robotic arm to the up 3 times

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


Input: Move to coordinate (695.29, 472.45, -282.98)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 695.29, "y": 472.45, "z": -282.98}}]}


Input: Adjust 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: Shift towards the left and then rise

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


Input: Capture 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: Move robotic arm to the left

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


Input: Move to the backward and then move to the forward

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


Input: Obtain 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: 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: Proceed right and then activate suction cup

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


Input: Reach 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 arm to left

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: Activate suction, move to the left, rise, then move 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: 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 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: Activate 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: 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: Move the arm to (2432, -1535, 48).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 2432, "y": -1535, "z": 48}}]}


Input: Stack the white block over 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: Move backward 3 times

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


Input: Reach yellow block, go 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: 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: Go forward then backward

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


Input: Move the white block to the left, and then to the right.

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


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: Shift rightwards and then go to (263.47, 162.85, -53.17)

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


Input: Navigate to (320.0, 270.0, 10.0), turn left, and then turn off suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 320.0, "y": 270.0, "z": 10.0}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Head to (214.30, 160.60, -52.68), shift right, switch off suction, then shift down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 214.3, "y": 160.6, "z": -52.68}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move the arm to (3781, -2898, 55).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 3781, "y": -2898, "z": 55}}]}


Input: Move robotic arm to the down twice

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


Input: Get 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: Navigate left and then go downwards

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


Input: Shift 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: Move to (223.88, 151.33, -53.78), go right, deactivate suction, then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 223.88, "y": 151.33, "z": -53.78}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"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: 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: Get the robotic arm to go right twice

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


Input: Proceed to yellow block location, then shift 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: Move arm to forward 3 times

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


Input: Shift the robot moving left 3 times

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


Input: Get the arm towards the backward direction

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


Input: Move left

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


Input: Move to (591.90, 151.50, -85.71)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 591.9, "y": 151.5, "z": -85.71}}]}


Input: Move backward

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


Input: Make the robotic 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: 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: Shift the robot arm to go backward direction

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


Input: Shift the robot to go right

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


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: Move the arm towards the forward direction

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


Input: Get the robotic arm to the 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: Shift the robot leftward

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


Input: Make the robot move to the down direction 3 times

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


Input: Move arm to the up

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


Input: Head right and then switch on suction cup

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


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

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


Input: Position the white block on top of 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 robot arm to go backward direction 3 times

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


Input: Turn on the suction cup.

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


Input: Activate suction, move to the left, rise, then move 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 robotic arm 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 on the left of blue block

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


Input: Move the robotic arm to coordinates (420, 290, -110).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 420, "y": 290, "z": -110}}]}


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: Get the robot to go forward twice

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


Input: Get the robot to the up direction

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


Input: Get the robot arm to go right twice

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


Input: Move to coordinate (250.12,137.71,-55.23)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 250.12, "y": 137.71, "z": -55.23}}]}


Input: Shift the robotic arm to the backward direction twice

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


Input: Rearrange the position of the yellow block to be 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: Move robotic arm 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: Navigate to where the yellow block is, then shift 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: Shift 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: Position the yellow block 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: Go to the left and then proceed to (347.28, 99.77, -44.81)

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


Input: Go to pink block location.

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


Input: Position 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: 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: 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 pink block move forward.

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


Input: Get to yellow block, move 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: Switch on suction, navigate to position (213.76, 217.38, -58.45), move upward, then switch off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 213.76, "y": 217.38, "z": -58.45}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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: Shift the robot upward 3 times

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


Input: Rearrange the yellow block's position to be positioned 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: Navigate right and then go upwards

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


Input: Move rightwards and then go up

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


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: Move to coordinate (391.85, 643.72, -142.98)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 391.85, "y": 643.72, "z": -142.98}}]}


Input: Shift the robot moving forward twice

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


Input: Head to (330.91, 112.86, -46.02) and then descend

Response: {"actions": [{"command": "move_to", "parameters": {"x": 330.91, "y": 112.86, "z": -46.02}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Get the robot arm to go up 3 times

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


Input: Move to the left and then move to the right

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


Input: Get the robot arm to go right direction 3 times

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


Input: Move to the left and grab the blue block

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


Input: Shift the robot moving 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: Shift the arm towards the left direction

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


Input: Enable suction.

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


Input: Transfer the yellow block to the 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: Activate suction, reach position (163.42, 212.18, -49.73), ascend, then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 163.42, "y": 212.18, "z": -49.73}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robotic arm to coordinates (330, 200, -65).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 330, "y": 200, "z": -65}}]}


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: Shift the white block to the back 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": "backward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Make the robotic arm move 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: Shift the the robotic arm up

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


Input: Proceed right and then travel to (242.81, 174.99, -55.73)

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move_to", "parameters": {"x": 242.81, "y": 174.99, "z": -55.73}}]}


Input: Make the robot move to the left direction

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


Input: Move the white block to the front 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": "forward"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the robotic arm to go left 3 times

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


Input: Shift the arm towards the up direction

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


Input: Activate the suction.

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


Input: Move to (204.78, 175.91, -57.23) and then activate suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 204.78, "y": 175.91, "z": -57.23}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


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

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


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

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


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: Shift left and then turn on suction cup

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


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

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


Input: Get the robot moving left 3 times

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


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: Set 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: Go to blue block and move it backward

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


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: Get the robot to go backward twice

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


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: Let the suction cup on.

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


Input: Move the arm on the left of violet block

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


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: Go to the yellow block location, 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: Go left, go to 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 the robot arm to go up direction 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: Shift the robot arm to go left direction twice

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


Input: Go to yellow block, then shift 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: Ascend, take hold 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 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: Ascend, descend, go left, and then 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: Turn on the suction and proceed to the coordinates of the yellow block

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


Input: Go to (218.64, 158.41, -53.41), move right, turn off the suction, then move down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 218.64, "y": 158.41, "z": -53.41}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Get the arm to the right direction twice

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


Input: Move the arm to (4917, -4034, 49).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 4917, "y": -4034, "z": 49}}]}


Input: Move to the left and grab the violet block

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


Input: Get the robot arm to position towards the yellow block

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


Input: Get the robot arm to go right 3 times

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


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

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


Input: Shift the robot arm to go down direction

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


Input: Proceed to (329.17, 67.11, -45.73) and then turn on suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 329.17, "y": 67.11, "z": -45.73}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Shift the robot upward

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


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 leftward, go up, and then descend

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


Input: Reach (187.43, 167.82, -54.78) and then turn left

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


Input: Move you arms toward the coordinates of the white block.

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


Input: Shift the robot arm to go 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: Get the robotic arm to the right twice

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


Input: Set the yellow block on top 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": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robotic arm backward 3 times

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


Input: Activate suction, move left, ascend, then move 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: 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: Go to violet block and move it backward

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


Input: Head over to the white block's position

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


Input: Shift 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: Move the pink block and advance its position forward.

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


Input: Make the robot move to the down direction 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: 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 to coordinate (458.74, 582.36, -245.67)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 458.74, "y": 582.36, "z": -245.67}}]}


Input: Shift left and then go down

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


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

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


Input: Shift the robot rightward 3 times

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


Input: Move arm to the down twice

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


Input: Shift the the robotic arm backward twice

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


Input: Turn on suction cup and navigate right

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


Input: Shift the robot arm to go forward

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


Input: Get 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: Move the arm to (4347, -3464, 55).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 4347, "y": -3464, "z": 55}}]}


Input: Make the arm move to red block location

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


Input: Move the robotic arm to coordinates (480, 320, -125).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 480, "y": 320, "z": -125}}]}


Input: Move the robotic arm forward 3 times

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


Input: Go right then left

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


Input: Switch on suction, navigate to position (222.89, 201.42, -56.71), move upward, then switch off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 222.89, "y": 201.42, "z": -56.71}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the arm to yellow block position

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


Input: 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 arm to right 3 times

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


Input: Shift leftward and then descend

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


Input: Navigate to where the yellow block is and then turn on suction cup

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


Input: Move robotic arm to right

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


Input: Make the robotic arm move to the up twice

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


Input: Shift the robotic arm towards up direction

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


Input: Go up first and then go down

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


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: Shift the robot arm to go up direction twice

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


Input: Move to (301.49, 129.57, -94.49)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 301.49, "y": 129.57, "z": -94.49}}]}


Input: Make the arm move to the down twice

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


Input: Move arm to up 3 times

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


Input: Ascend, descend, move left, then move right

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


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

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


Input: Move 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: Approach yellow block position, move left, and turn on the 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 the robotic arm to coordinates (350, 220, -75).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 350, "y": 220, "z": -75}}]}


Input: Move in the right direction

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


Input: Go up initially, then come back down

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


Input: Make the robotic arm move to the forward direction 3 times

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


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

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


Input: Move towards the right and then towards the left

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


Input: Activate suction, go to (231.06, 226.17, -61.14), ascend, then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 231.06, "y": 226.17, "z": -61.14}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the arm to (854, 42, 59).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 854, "y": 42, "z": 59}}]}


Input: Approach 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 up

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


Input: Move the arm to (2099, -1198, 61).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 2099, "y": -1198, "z": 61}}]}


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: Go to (560.7, 460.4, 74.3), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 560.7, "y": 460.4, "z": 74.3}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move to (223.88, 151.33, -53.78), go right, deactivate suction, then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 223.88, "y": 151.33, "z": -53.78}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


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: Move to coordinate (999.18, 162.76, -211.33)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 999.18, "y": 162.76, "z": -211.33}}]}


Input: Move left and then navigate to (142.65, 198.34, -49.21)

Response: {"actions": [{"command": "move", "parameters": {"direction": "left"}}, {"command": "move_to", "parameters": {"x": 142.65, "y": 198.34, "z": -49.21}}]}


Input: Move arm to the forward direction twice

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


Input: Make the robotic arm move 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: Set the white block over 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: Go to white block

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


Input: Move down 3 times

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


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: Shift the the robotic arm to the backward direction

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


Input: Transfer the white block to the right side 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: Shift the the robotic arm to the up twice

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


Input: Get the the robotic arm 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: Move to coordinate (470.39, 418.43, -115.45)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 470.39, "y": 418.43, "z": -115.45}}]}


Input: Go down and then activate the suction cup

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


Input: Move to coordinate (428.67, 362.32, -98.56)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 428.67, "y": 362.32, "z": -98.56}}]}


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

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


Input: Go left, then go down

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


Input: Go to (436.5, 355.5, 33.8), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 436.5, "y": 355.5, "z": 33.8}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go left and then activate the suction cup

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


Input: Shift the robot to the forward direction direction

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


Input: Move robotic arm to the down

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


Input: Grasp the green block and push it forward.

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


Input: Disable suction.

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


Input: Turn on suction cup and then go up

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


Input: Move arm to right

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


Input: Move right and then navigate to (142.65, 198.34, -49.21)

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move_to", "parameters": {"x": 142.65, "y": 198.34, "z": -49.21}}]}


Input: Shift the robotic arm to go backward 3 times

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


Input: Place the yellow block on top 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": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the robot to go up twice

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


Input: Shift to the forward and then shift towards the backward

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


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: Move the arm to the left

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


Input: Proceed to (428.0, 345.6, 30.4), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 428.0, "y": 345.6, "z": 30.4}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Get to yellow block, turn 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: Ascend and then reach (297.18, 137.89, -49.08)

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


Input: Grab the green block and move it backward.

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


Input: Move the arm to (1865, -969, 59).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 1865, "y": -969, "z": 59}}]}


Input: Get the robot to the left direction

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


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

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


Input: Move robotic arm to the backward direction twice

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


Input: Make the robot arm move to the forward direction 3 times

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


Input: Shift the position of the yellow block to the 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: Shift the yellow block 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: Move to (521.50, 221.20, -109.42)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 521.5, "y": 221.2, "z": -109.42}}]}


Input: Switch on suction, move to position (227.48, 201.99, -56.68), ascend, then switch off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 227.48, "y": 201.99, "z": -56.68}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move yourself to the left direction

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


Input: Head towards yellow block, then shift 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 right 3 times

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


Input: Move the robotic arm to coordinates (440, 310, -120).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 440, "y": 310, "z": -120}}]}


Input: Head to (228.09, 150.77, -53.93), shift right, switch off suction, then move down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 228.09, "y": 150.77, "z": -53.93}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Shift the robotic arm to the down twice

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


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

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


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

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


Input: Move the arm to the backward direction

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


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

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


Input: Get the robot in the down direction

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


Input: Shift the robot backward

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


Input: Move the robotic arm to coordinates (410, 250, -90).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 410, "y": 250, "z": -90}}]}


Input: Move rightward and then head to (330.91, 112.86, -46.02)

Response: {"actions": [{"command": "move", "parameters": {"direction": "right"}}, {"command": "move_to", "parameters": {"x": 330.91, "y": 112.86, "z": -46.02}}]}


Input: Make the robot move to the backward direction direction

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


Input: Go to position towards the white block

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


Input: Move rightward

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


Input: Collect 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 the robotic arm up twice

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


Input: Get the robotic arm to go 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: Move to coordinate (295.47, 183.64, -62.89)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 295.47, "y": 183.64, "z": -62.89}}]}