Input: Move towards 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: Shift the 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: Move the arm to the up

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


Input: Move 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: Grab the red block and move it backward.

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


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

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


Input: Get the robot to go left 3 times

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


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

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


Input: 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: 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 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: Travel up and then switch on suction cup

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


Input: Move the robot to the right direction

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


Input: Get the arm towards the right direction

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


Input: Make the violet block move forward.

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


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

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


Input: Move in the forward direction

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


Input: Proceed to white block coordinates and then turn on suction

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


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

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


Input: Move up 3 times

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


Input: Make the robot move to the backward direction twice

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


Input: Head towards the position of the white block

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


Input: Go right and then activate the suction cup

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


Input: Move arm to the right

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


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

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


Input: Go to (342.49, 55.59, -44.36) and then activate suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 342.49, "y": 55.59, "z": -44.36}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Move up and then move down

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


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

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


Input: Get the robot sideways to the down

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


Input: Turn on suction cup and proceed to the right

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


Input: Make the robot arm move 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: Move towards the yellow block's coordinates

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


Input: Get the robotic arm towards right direction

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


Input: Get the the robotic arm to the left

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


Input: Move arm to the down

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


Input: Move 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: Get the arm to the left direction

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


Input: Get up and then go downwards

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


Input: Enable the suction.

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


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: Go to (469.4, 380.6, 43.9), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 469.4, "y": 380.6, "z": 43.9}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move to coordinate (387.40, 308.05, -85.15)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 387.4, "y": 308.05, "z": -85.15}}]}


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: Travel to the yellow block, then shift to the 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: 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: 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: 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 the robotic arm to coordinates (430, 270, -100).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 430, "y": 270, "z": -100}}]}


Input: Navigate to the yellow block location

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


Input: Turn on suction, travel to (208.51, 243.91, -65.48), go upwards, then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 208.51, "y": 243.91, "z": -65.48}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the robotic arm towards the down direction

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


Input: Proceed to where the yellow block is, then shift to the 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: Go down initially, then come back up

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


Input: Move 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: Place 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: Proceed to (241.8, 192.9, -30.5), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 241.8, "y": 192.9, "z": -30.5}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go down first and then go up

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


Input: Move the robotic arm to coordinates (340, 180, -62).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 340, "y": 180, "z": -62}}]}


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

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


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: 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: Pick up the orange block and moving it forward.

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


Input: Move the robotic arm right 3 times

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


Input: Go to yellow block, move left, turn on the 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: 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 robotic arm to the up

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


Input: Move to (451.25, 291.00, -133.49)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 451.25, "y": 291.0, "z": -133.49}}]}


Input: Position the yellow block to the right side 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: Turn on suction, travel to (198.24, 237.41, -65.13), go upwards, then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 198.24, "y": 237.41, "z": -65.13}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Navigate to white block

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


Input: Navigate to the left and then to the right

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


Input: Position the yellow block on top of 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: Move rightward, move downwards, then shift to the left

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


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

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


Input: Turn on suction, reach coordinates (207.14, 233.08, -61.54), move upwards, then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 207.14, "y": 233.08, "z": -61.54}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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: Navigate to (142.65, 198.34, -49.21) and then proceed rightward

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


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

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


Input: Get the robot to go backward 3 times

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


Input: Make the arm move to the white block

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


Input: Move to (150, 250, -50), and then move the yellow block to coordinates (151, 251, -51)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 150, "y": 250, "z": -50}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 151, "y": 251, "z": -51}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move to (979.00, -231.40, 38.27)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 979.0, "y": -231.4, "z": 38.27}}]}


Input: Move to (323.94, 155.09, -107.79)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 323.94, "y": 155.09, "z": -107.79}}]}


Input: Move rightwards and then leftwards

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


Input: Shift right and then go down

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


Input: Make the robot move 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 left, move to white block, activate 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: Turn on suction, move left, go upwards, then go right

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


Input: Move to where the white block is placed

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


Input: Shift the robot to the right direction

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


Input: Make the robot move to the left direction four times

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


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

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


Input: Move towards 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: Move arm to the left twice

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


Input: Get the robotic arm to the up twice

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


Input: Turn on suction, travel to (237.06, 191.32, -63.12), go upwards, then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 237.06, "y": 191.32, "z": -63.12}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the robotic arm to the up twice

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


Input: Position the yellow block on top of 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: Proceed to location where the white block is located.

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


Input: Reach the yellow block's coordinates

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


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

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


Input: Shift 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: Start the suction cup.

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


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

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


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

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


Input: Move to the backward direction four times

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


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

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


Input: Move to (421.97, 259.34, -168.47)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 421.97, "y": 259.34, "z": -168.47}}]}


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

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


Input: Reach the position of the white block

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


Input: Go to where the yellow block is

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


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

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 249.62, "y": 137.63, "z": -55}}, {"command": "move_to", "parameters": {"x": 300, "y": 150, "z": -50}}]}


Input: Get the robot arm to go left four times

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


Input: Move the robotic arm to coordinates (490, 330, -130).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 490, "y": 330, "z": -130}}]}


Input: Move the arm on the left of red block

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


Input: Navigate to (240.0, 190.0, -30.0), turn left, and then turn off suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 240.0, "y": 190.0, "z": -30.0}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: 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: Move sideways to the down

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


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

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


Input: Get to yellow block, go left, activate suction, and then go right

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


Input: 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: 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: Place 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: Move towards yellow block, shift to the left, and activate 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 robotic arm to down twice

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


Input: Turn on suction cup and move down

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


Input: Make the robot move to the up

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


Input: Head the arm to the position of the white block

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


Input: Turn on suction cup and shift to the left

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


Input: Grab the pink block and move it backward.

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


Input: Move arm to the down four times

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


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

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


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

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


Input: Move to the left and then activate suction cup

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


Input: Enable the suction cup.

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


Input: Make the robot 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: Start the suction.

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


Input: Move the arm to (429, 468, 63).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 429, "y": 468, "z": 63}}]}


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: Move the arm to (2547, -1650, 53).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 2547, "y": -1650, "z": 53}}]}


Input: Go to (290.0, 240.0, -5.0), turn right, and then turn off suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 290.0, "y": 240.0, "z": -5.0}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Make the blue block forward of the blue block

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


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

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


Input: Proceed to (213.2, 166.8, -41.7), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 213.2, "y": 166.8, "z": -41.7}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go to (407.3, 328.0, 23.6), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 407.3, "y": 328.0, "z": 23.6}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Get the arm to the right direction 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 robotic arm towards forward direction

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


Input: Get the robot moving down twice

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


Input: Move rightwards and then turn on suction cup

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


Input: Rearrange the yellow block's position 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: Reach (297.18, 137.89, -49.08) and then go rightward

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


Input: Shift the robot to go forward four times

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


Input: Move robotic arm to the up twice

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


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

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


Input: Switch the suction on.

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


Input: Shift the robotic arm towards the forward direction

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


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

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


Input: Position 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: Shift the robot forward

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


Input: Make the arm go to right and then go to the left

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


Input: Get 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: Move towards the forward and then towards the backward

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


Input: Move right twice

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


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

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


Input: 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: 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: Proceed to (333.0, 268.4, 0.0), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 333.0, "y": 268.4, "z": 0.0}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move to the backward direction twice

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


Input: Move left, ascend, then descend

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


Input: Move the arm to (125, 771, 35).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 125, "y": 771, "z": 35}}]}


Input: Move arm to up twice

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


Input: Get 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: Navigate to (296.31, 94.15, -47.47) and then turn on suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 296.31, "y": 94.15, "z": -47.47}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


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: 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: Get the robotic arm to go forward 3 times

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


Input: Get the robotic arm to go backward twice

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


Input: Let the suction off.

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


Input: Switch on suction, go left, go upwards, then go right

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


Input: Turn on suction, travel to coordinates (186.76, 203.95, -62.08), ascend, then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 186.76, "y": 203.95, "z": -62.08}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the robot in the backward direction

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


Input: Get the robot moving right

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


Input: Proceed the arm to the spot where the white block is located.

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


Input: Lift 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: Move the robotic arm to coordinates (370, 240, -85).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 370, "y": 240, "z": -85}}]}


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

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


Input: Move arm to backward twice

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


Input: Move the arm to (3443, -2560, 55).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 3443, "y": -2560, "z": 55}}]}


Input: Move to (345.67, 395.60, -170.28)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 345.67, "y": 395.6, "z": -170.28}}]}


Input: Go to (243.17, 140.32, -52.87) and then turn on suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 243.17, "y": 140.32, "z": -52.87}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Get the robot to go left four times

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


Input: Move the arm to (314, 582, 28).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 314, "y": 582, "z": 28}}]}


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: Ascend, descend, move left, and 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: Turn on suction, shift left, rise, then shift right

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


Input: Proceed to (347.28, 99.77, -44.81) and then move downward

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


Input: Descend and then travel to (263.47, 162.85, -53.17)

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


Input: Move the arm to the right

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


Input: Head left and then switch on suction cup

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


Input: Move the robotic arm to coordinates (380, 250, -90).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 380, "y": 250, "z": -90}}]}


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

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


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

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


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

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


Input: Set the white block atop 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: Turn on suction cup and shift left

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


Input: Approach yellow block, shift left, turn 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: Use the suction cup to grab the orange block and move it forward.

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


Input: Go towards the left and then towards the right

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


Input: Align the yellow block to the right side 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 right

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


Input: Go over to white block position

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


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

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


Input: Take the 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 off the suction cup.

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


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

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


Input: Activate suction, proceed to location (214.38, 214.66, -55.87), go upwards, then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 214.38, "y": 214.66, "z": -55.87}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the arm to (2665, -1768, 66).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 2665, "y": -1768, "z": 66}}]}


Input: Move to (982.50, -345.60, 56.80)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 982.5, "y": -345.6, "z": 56.8}}]}


Input: Shift the the robotic arm right twice

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


Input: Shift right and then move to (314.52, 125.73, -47.37)

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


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

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


Input: 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: Get the robotic arm towards down direction

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


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

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


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

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


Input: Move to coordinate (445.75, 587.23, -218.55)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 445.75, "y": 587.23, "z": -218.55}}]}


Input: Make the robot move to the backward direction

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


Input: Get the robotic arm to the down four times

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


Input: Move robotic arm to 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 leftward, go up, and then descend

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


Input: Go to yellow block, move left, turn on the 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: Shift the robotic arm to the forward direction twice

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


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

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


Input: Navigate to the right and then to the left

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


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

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


Input: Transfer the position of 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: Navigate to (142.65, 198.34, -49.21) and then descend

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


Input: Go left, then go up

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


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 to where the yellow block is, then move left and turn on suction

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


Input: Get the robot to go right twice

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


Input: Shift the robot to the backward direction direction

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


Input: Ascend, descend, move left, and 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: Move to the left and grab the green block

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


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

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


Input: Get the arm 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: Make the arm move to pink block location

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


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

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


Input: Grab the black block and bring it backward.

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


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

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


Input: Proceed to (676.4, 556.3, 111.4), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 676.4, "y": 556.3, "z": 111.4}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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

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


Input: Shift the robot 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: Direct the arm to white block coordinates

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


Input: Stop suction.

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


Input: Make the robot 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: 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: Relocate the position of the yellow block ahead of the white block.

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


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

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


Input: Move 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: 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: Grab the violet block and bring 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 robot move to the backward direction direction 3 times

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


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

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


Input: Make the robotic arm move 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: Move the robotic arm backward twice

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


Input: Turn on suction cup and move leftwards

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


Input: Get the the robotic arm backward 3 times

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


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

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


Input: Get the the robotic arm up

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


Input: Get the robotic arm to the backward direction

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


Input: Securely grasp the 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: Move down and then move up

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


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

Response: {"actions": [{"command": "move_to", "parameters": {"x": 330.91, "y": 112.86, "z": -46.02}}, {"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: Make the robot arm move to the down 3 times

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


Input: Go towards the backward and then towards the forward

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


Input: Move arm to right twice

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


Input: Navigate to (142.65, 198.34, -49.21) and then proceed leftward

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


Input: Move to the position of orange block and go forward

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


Input: Activate suction cup and then proceed to yellow block coordinates

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


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

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


Input: Shift the robot arm to go backward

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


Input: Proceed to (614.3, 503.2, 91.2), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 614.3, "y": 503.2, "z": 91.2}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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

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


Input: Get the arm to the left

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


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

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


Input: Shift towards the left and then rise

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


Input: Shift the robotic arm to go forward four times

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


Input: Move to coordinate (524.34, 495.39, -144.33)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 524.34, "y": 495.39, "z": -144.33}}]}


Input: Move sideways to the up

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


Input: Move the robotic arm to coordinates (380, 220, -75).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 380, "y": 220, "z": -75}}]}


Input: Move to the location of the white block

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


Input: Let the suction cup off.

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


Input: Direct the arm to the white block

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


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: Get the the robotic arm left 3 times

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


Input: Move to (150, 250, -50), and then move the white block to coordinates (151, 251, -51)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 150, "y": 250, "z": -50}}, {"command": "move_to", "parameters": {"x": 266.05, "y": 8.32, "z": -53.46}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 151, "y": 251, "z": -51}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move towards the left direction four times

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


Input: Proceed to (490.1, 398.2, 50.7), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 490.1, "y": 398.2, "z": 50.7}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go to yellow block

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


Input: Move robotic arm to the forward direction twice

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


Input: Make the robot move to the 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: Proceed to yellow block coordinates and then turn on suction

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


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

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


Input: Proceed to (193.72, 189.25, -50.92), go right, turn off suction, then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 193.72, "y": 189.25, "z": -50.92}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


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

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


Input: Get the robot arm to go 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: Go to blue block location.

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


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: 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: Proceed to (303.8, 242.8, -10.2), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 303.8, "y": 242.8, "z": -10.2}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Get the robot to the backward direction direction

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


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

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


Input: Get 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: Turn on the suction and navigate to the white block coordinates

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


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

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


Input: Go to black block coordinate and move rightward.

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


Input: Shift the robot arm to go right direction

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


Input: Take possession of 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: Go to the yellow block, move leftward, 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: 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: Shift the robot sideways to the forward direction

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


Input: Shift 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: Head to (330.91, 112.86, -46.02) and then go left

Response: {"actions": [{"command": "move_to", "parameters": {"x": 330.91, "y": 112.86, "z": -46.02}}, {"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: 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: 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: Move to (556.70, 186.40, -97.52)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 556.7, "y": 186.4, "z": -97.52}}]}


Input: Shift the robotic arm to go forward twice

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


Input: Go left and then switch on suction cup

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


Input: Move upwards followed by a downward movement

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


Input: Shift the robot downward four

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


Input: Go to (262.72, 125.79, -52.54) and then activate suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 262.72, "y": 125.79, "z": -52.54}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Make the robot arm move to yellow block position

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


Input: Turn on suction cup and proceed left

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


Input: Get the arm to the 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: 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: 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: 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: Align the yellow block to the right side of the white block.

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


Input: Shift the robotic arm to the forward direction twice

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


Input: Move towards the right direction 3 times

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


Input: Move left, reach 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: Grab the white block

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


Input: Turn on suction cup and navigate to the position 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: 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: Switch on suction, navigate to (176.39, 177.58, -57.92), move upward, then switch off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 176.39, "y": 177.58, "z": -57.92}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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 the robot to the down direction

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


Input: Make the arm move to black block location

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


Input: Move 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: Move the arm to (5373, -4490, 69).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 5373, "y": -4490, "z": 69}}]}


Input: Go down and then followed by go up

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


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

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


Input: Get the robot to go left

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


Input: Shift the the robotic arm to the down

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


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: 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: Shift right and then shift left

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


Input: Go to where the yellow block located

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


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

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


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

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


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

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


Input: Move to (226.87, 148.15, -54.03), go right, deactivate suction, then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 226.87, "y": 148.15, "z": -54.03}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Get the arm to the backward direction direction

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


Input: Turn on suction and navigate to where the yellow block is

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


Input: Get the robot 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: Shift the white block behind the yellow block.

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


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

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


Input: Get the robotic arm to go left twice

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


Input: Shift the robot arm to go right twice

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


Input: Reach yellow block, go left, activate 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: Get the robotic 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: Put the yellow block onto 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: Move 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 and move towards the position 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: Move arm to the down 3 times

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


Input: Get the 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: Switch suction cup on.

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


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: Shift the the robotic arm up twice

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


Input: Move 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: Go to (374.4, 303.3, 13.5), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 374.4, "y": 303.3, "z": 13.5}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Approach (227.31, 144.21, -54.08), shift right, switch off suction, then shift down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 227.31, "y": 144.21, "z": -54.08}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Disable the suction cup.

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


Input: Shift the robot to go forward 3 times

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


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

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


Input: Move 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 robotic 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 towards the backward and then towards the forward

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


Input: Go to (593.6, 485.5, 84.4), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 593.6, "y": 485.5, "z": 84.4}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Rearrange the yellow block 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: Shift the robot moving 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: Go to blue block coordinate and move rightward.

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


Input: Head left then go down

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


Input: Shift the robot sideways to the up

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


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

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


Input: Make the robot move to the right 3 times

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


Input: Switch on suction cup.

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


Input: Move the arm to (965, -67, 37).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 965, "y": -67, "z": 37}}]}


Input: Move the robotic arm to coordinates (420, 260, -95).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 420, "y": 260, "z": -95}}]}