Input: Get the arm to the down direction 3 times

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


Input: Grasp the red block and push it forward.

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


Input: Move the arm to (5031, -4148, 63).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 5031, "y": -4148, "z": 63}}]}


Input: Get the the robotic arm to the backward direction

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


Input: Shift the robot sideways to the backward direction

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


Input: Activate suction, proceed to location (192.72, 229.45, -61.07), go upwards, then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 192.72, "y": 229.45, "z": -61.07}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go to red block and move it backward

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


Input: Go to where the white block is positioned

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


Input: Proceed to (234.90, 139.14, -54.49), go right, turn off the suction, then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 234.9, "y": 139.14, "z": -54.49}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Get the robot to go down 3 times

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


Input: Shift the robotic arm to the left four times

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


Input: Shift the robot forward

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


Input: Navigate to (386.6, 310.7, 16.9), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 386.6, "y": 310.7, "z": 16.9}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn on suction cup and go to the left

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


Input: Make the arm go to forward and then go to the backward

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


Input: Turn on suction cup and go to the down direction

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


Input: Shift to the backward first, then move to the forward

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


Input: Position the yellow block so it's behind the white block.

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


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

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


Input: Navigate to (355.82, 44.07, -42.99) and then turn on suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 355.82, "y": 44.07, "z": -42.99}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move to (347.48, 179.65, -124.09)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 347.48, "y": 179.65, "z": -124.09}}]}


Input: Shift the robotic arm to go down twice

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


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

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


Input: Move the robotic arm forward twice

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


Input: Set suction on.

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


Input: Move arm to 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 to (220.36, 15.72, -48.05)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 220.36, "y": 15.72, "z": -48.05}}]}


Input: Grab the orange block and move it backward.

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


Input: Ascend, descend, shift left, and then 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: Make the arm move to yellow block position

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


Input: Get the arm to the left direction 3 times

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


Input: Move the arm to (5487, -4604, 49).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 5487, "y": -4604, "z": 49}}]}


Input: Move left, ascend, then descend

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


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

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


Input: Proceed to location where the yellow block is located.

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


Input: Proceed to (235.72, 139.25, -54.45), go right, turn off the suction, then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 235.72, "y": 139.25, "z": -54.45}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move 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: Go to (260.0, 210.0, -20.0), go up, and then turn off suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 260.0, "y": 210.0, "z": -20.0}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Activate suction, shift left, ascend, 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: Move 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: Position the arm to yellow block coordinates

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


Input: Ascend and then move to (142.65, 198.34, -49.21)

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


Input: Move robotic arm to left twice

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


Input: Head right then go down

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


Input: Make the robot 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: 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: Go to the position of the yellow block

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


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

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


Input: Get the robot arm to go left

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


Input: Ascend, descend, shift left, and then 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: 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: Move to the left and grab the pink block

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


Input: Move the arm to (1987, -1087, 47).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 1987, "y": -1087, "z": 47}}]}


Input: Get the robot to go up twice

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


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

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


Input: Move towards right direction

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


Input: Proceed to (242.81, 174.99, -55.73) and then move up

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


Input: Move to (314.52, 125.73, -47.37) and then shift towards the left

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


Input: Shift the robot in the down direction

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


Input: Move to coordinate (408.13, 335.19, -90.81)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 408.13, "y": 335.19, "z": -90.81}}]}


Input: Turn on suction, reach coordinates (243.43, 236.32, -64.64), move upwards, then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 243.43, "y": 236.32, "z": -64.64}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Get the robot sideways to the forward direction

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


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

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


Input: Get the robot moving up twice

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


Input: Turn on suction, travel to (210.82, 235.41, -64.07), go upwards, then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 210.82, "y": 235.41, "z": -64.07}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the the robotic arm down 3 times

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


Input: Shift the 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: Shift the robot arm to go right direction twice

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


Input: Shift the robot to go left twice

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


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

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


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

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


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

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


Input: 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 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: Align the yellow block in front of the white block.

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


Input: Activate suction, proceed to location (224.59, 195.37, -58.43), go upwards, then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 224.59, "y": 195.37, "z": -58.43}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the the robotic arm right

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


Input: Move the arm to (3330, -2447, 48).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 3330, "y": -2447, "z": 48}}]}


Input: Move to the left and grab the red block

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


Input: Get the robot to go forward

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


Input: Navigate left and then go upwards

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


Input: Shift the robot arm to go down direction twice

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


Input: Proceed rightward followed by an downward elevation

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


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

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