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

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


Input: Make the robot arm move to the backward direction

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


Input: Move the robotic arm to the left

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


Input: Shift the robotic arm to go down 3 times

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


Input: Take custody 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: Make the orange block move forward.

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


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: 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: Move up and then turn on suction cup

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


Input: Navigate to (510.8, 415.5, 57.4), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 510.8, "y": 415.5, "z": 57.4}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn on suction cup and head up

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


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

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


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

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


Input: 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 the robotic arm to coordinates (800, 480, -80).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 800, "y": 480, "z": -80}}]}


Input: Move yourself to the right direction

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


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

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


Input: Get the robot moving 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: Proceed to (229.91, 151.78, -54.29) and then activate suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 229.91, "y": 151.78, "z": -54.29}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


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

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


Input: Move to coordinate (637.48, 485.32, -326.89)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 637.48, "y": 485.32, "z": -326.89}}]}


Input: Make the robotic arm move 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 to yellow block position and then turn on suction cup

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


Input: Shift the robotic arm to the up twice

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


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

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


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

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


Input: Move to coordinate (349.67, 672.98, -189.33)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 349.67, "y": 672.98, "z": -189.33}}]}


Input: Move towards the right and then towards the left

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


Input: Move arm to the right four times

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


Input: Move arm to down twice

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


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: 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: Shift the robot moving 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 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: Proceed downwards and then activate suction cup

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


Input: Get the robot moving forward 3 times

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


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

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


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

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


Input: Move the robotic arm to coordinates (350, 190, -68).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 350, "y": 190, "z": -68}}]}


Input: Move towards the right direction twice

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


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

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


Input: Proceed to the position of the white block 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: Get 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: Head right then go up

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


Input: Shift the the robotic arm to the left

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


Input: Move in the backward direction

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


Input: Go to (205.31, 178.52, -49.73), move right, turn off suction, then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 205.31, "y": 178.52, "z": -49.73}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Proceed to (519.3, 425.4, 60.8), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 519.3, "y": 425.4, "z": 60.8}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move left 3 times

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


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: 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 left, ascend, then descend

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


Input: Shift the robot backward twice

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


Input: Move to (396.52, 230.67, -153.81)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 396.52, "y": 230.67, "z": -153.81}}]}


Input: Move the arm to (627, 270, 51).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 627, "y": 270, "z": 51}}]}


Input: Get the robot 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: Make the robotic arm move to the backward direction four times

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


Input: Move the arm to the yellow block

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


Input: Shift up and then turn on suction cup

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


Input: Set the suction off.

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


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

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


Input: Direct the arm to the yellow block

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


Input: Shift the robotic arm to the down

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


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: Get the robotic arm to go down

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


Input: Shift the robot sideways to the right

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


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

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


Input: Get the robotic arm to go up

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


Input: Navigate to yellow block, move 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: Switch on the suction cup.

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


Input: Move arm to up

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


Input: Move 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: Direct the robot arm to white block position

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: Activate suction, shift left, ascend, then shift right

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


Input: Get the robotic arm to go backward

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


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

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


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

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


Input: 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: Get the robot arm to go down four times

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


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

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


Input: Navigate to (477.9, 390.4, 47.3), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 477.9, "y": 390.4, "z": 47.3}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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

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


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

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


Input: Go to (283.01, 105.68, -48.82) and then activate suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 283.01, "y": 105.68, "z": -48.82}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


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

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


Input: Get the the robotic arm up twice

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


Input: Arrange the white block on top of the yellow one.

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


Input: Position the white block so it's situated 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: Shift to the left and then shift towards the right

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


Input: Move arm to down four times

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


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

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


Input: Shift the 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: Get the robot rightward

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


Input: Shift the the robotic arm to the left twice

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


Input: Get the robotic arm towards backward direction

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


Input: Get the arm to the up direction twice

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


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

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


Input: Get the robot moving down 3 times

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


Input: Get the arm towards the up direction

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


Input: Move the robotic arm right

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


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

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


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

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


Input: Navigate to the yellow block position 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: Move towards the backward direction 3 times

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


Input: Move the robotic arm to coordinates (450, 320, -150).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 450, "y": 320, "z": -150}}]}


Input: Move towards the white block's coordinates

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


Input: Switch on suction, go left, climb, 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: Navigate to the coordinates of the yellow block

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


Input: Move to (503.35, 344.21, -212.54)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 503.35, "y": 344.21, "z": -212.54}}]}


Input: Get the robot arm to go right direction

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


Input: Set the yellow block over the white block.

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


Input: Move to (488.62, 330.08, -205.14)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 488.62, "y": 330.08, "z": -205.14}}]}


Input: Get the robot moving up

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


Input: Shift the the robotic arm forward

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


Input: Get the robotic arm to the left 3 times

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


Input: Shift the robotic arm to go down

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


Input: Go left, go up, go down

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


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

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


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

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


Input: Go to the yellow block's position

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


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 to (233.53, 143.16, -54.27), go right, deactivate suction, then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 233.53, "y": 143.16, "z": -54.27}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Shift the robot moving right 3 times

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


Input: Move the robotic arm down twice

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


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

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


Input: Move to the left four times

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


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

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


Input: Move 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: Move the robotic arm up

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


Input: Shift 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: Navigate the arm to the white block

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


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: Make the robot move to the right direction

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


Input: Move arm to forward twice

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


Input: Move to (312.16, 142.81, -100.64)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 312.16, "y": 142.81, "z": -100.64}}]}


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

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


Input: Switch suction on.

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


Input: Move the robotic arm to coordinates (320, 190, -60).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 320, "y": 190, "z": -60}}]}


Input: Get the robot sideways to the backward direction

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


Input: Move robotic arm to up 3 times

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


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

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


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

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


Input: Move to (242.56, 130.22, -54.91), shift right, deactivate suction, then descend

Response: {"actions": [{"command": "move_to", "parameters": {"x": 242.56, "y": 130.22, "z": -54.91}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Activate suction, proceed to location (206.33, 237.45, -62.04), go upwards, then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 206.33, "y": 237.45, "z": -62.04}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move towards the white block

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


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

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


Input: Move the robotic arm to coordinates (250, 100, -55).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 250, "y": 100, "z": -55}}]}


Input: Grab the orange block and bring it backward.

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


Input: Make the robotic arm move to the left

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


Input: Shift the robot arm to the backward direction

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


Input: Descend and then head to (222.19, 185.73, -58.36)

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


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

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


Input: Get the robot moving up four times

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


Input: Navigate to yellow block location, shift left, then 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: Move the green block and advance its position forward.

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


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

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


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

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


Input: Move towards backward direction

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


Input: Get the the robotic arm to the up twice

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


Input: Let suction cup on.

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


Input: Go up and then go down

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


Input: Proceed to (705.6, 583.8, 121.5), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 705.6, "y": 583.8, "z": 121.5}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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

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


Input: 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: 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: Move 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: Make the arm move to the up

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


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

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


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

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


Input: Shift forward and then shift backward

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


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: 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 the arm to white block coordinates

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


Input: Move sideways to the left

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


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

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


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

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


Input: Move forward twice

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


Input: Move down

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


Input: Shift the robotic arm to go forward

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


Input: Turn suction cup on.

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


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

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


Input: Get 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 robotic arm to the left 3 times

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


Input: Shift left and then shift right

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


Input: Shift the robot leftward twice

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


Input: Ascend, descend, go left, and then go right

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


Input: Turn suction off.

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


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

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


Input: Move towards the right direction

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


Input: Move leftwards and then rightwards

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


Input: Get the robotic arm to go left 3 times

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


Input: Shift the arm towards the backward direction

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


Input: Shift the robotic arm towards backward direction

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


Input: Move arm to left twice

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


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

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


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

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


Input: Switch off the suction cup.

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


Input: Move the arm to (543, 354, 47).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 543, "y": 354, "z": 47}}]}


Input: Shift the arm to the left

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


Input: Make the robot arm move to the right twice

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


Input: Shift the robot arm to go down

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


Input: Move left, reach 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: Get the robot arm to go left twice

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


Input: Move to the down four times

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


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

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


Input: Go to pink block coordinate and move rightward.

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


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

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


Input: Turn on suction cup and proceed to go up

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


Input: Shift the robotic arm to the backward direction

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


Input: Move rightward and then head to (222.19, 185.73, -58.36)

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


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: Get the robot arm to go backward twice

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


Input: Deactivate suction.

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


Input: Shift the robot arm to go up twice

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


Input: Shift the robotic arm to the up four times

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


Input: Move to the forward direction twice

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


Input: Move to (200.0, 150.0, -50.0), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 200.0, "y": 150.0, "z": -50.0}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robotic arm down 3 times

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


Input: Switch on suction, navigate to position (217.99, 221.52, -58.87), move upward, then switch off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 217.99, "y": 221.52, "z": -58.87}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move towards the left and then towards the right

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


Input: Shift the the robotic arm to the right twice

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


Input: Move forward four times

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


Input: Shift 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: Shift the robotic arm to go backward twice

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


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

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


Input: Get the robot arm to go 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: Move robotic arm to backward twice

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


Input: Switch on suction, move to position (230.08, 208.97, -57.92), ascend, then switch off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 230.08, "y": 208.97, "z": -57.92}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the robot backward four

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 robotic arm to go forward twice

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


Input: Move the robotic arm to the left 3 times

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


Input: Navigate toward the position of the yellow block

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


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

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


Input: Head towards the yellow block

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


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

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


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

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


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

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


Input: Get the robot arm to the forward direction

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


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: 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: Shift the robot moving forward 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 (247.76, 240.93, -64.93), move upwards, then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 247.76, "y": 240.93, "z": -64.93}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Head over to the yellow block's position

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


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

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


Input: Shift the 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: Descend and then reach (297.18, 137.89, -49.08)

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


Input: Approach yellow block, move left, and turn on the suction cup

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


Input: Move the 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: Get the robotic arm to the forward direction twice

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


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

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


Input: Get the arm to the right

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


Input: Make the robot move to the left direction twice

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


Input: Move to coordinate (955.62, 178.49, -201.23)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 955.62, "y": 178.49, "z": -201.23}}]}


Input: Get to yellow block, shift left, and activate suction

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


Input: Direct the arm to yellow block

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


Input: Shift the robotic arm to go backward

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


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: Get the robotic arm to the down

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


Input: Shift the arm to the forward direction direction

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


Input: Place the arm to wheren the yellow block is located

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


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: Set 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 the right, descend, then move left

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


Input: Shift the robotic arm to the up

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


Input: Move the robotic arm to the left twice

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


Input: Move the robotic arm to coordinates (370, 210, -70).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 370, "y": 210, "z": -70}}]}


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

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


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

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


Input: Get the robot to the forward direction direction

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


Input: Move to the up and then activate suction cup

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


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

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


Input: Move upward, then downward, go left, and finally 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 arm to the up twice

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


Input: Get the robot arm to the up

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


Input: Shift the robotic arm to the forward direction

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


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: Shift the robot moving 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: Rearrange the yellow block to be at the back of the white block.

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


Input: Head towards the yellow block, shift left, and turn on the suction cup

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


Input: Shift the arm to the right

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


Input: Make the arm move to the backward direction

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


Input: Shift the robot 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 the robotic arm forward

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


Input: Move arm to the left

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


Input: Make the arm move to yellow block position

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


Input: Go to where the yellow block is located

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


Input: Move down

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


Input: Go towards yellow block, move to the left, turn on the suction, and move to the 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 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 left, ascend, then descend

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


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

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


Input: Move towards the left direction 3 times

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


Input: Move to coordinate (569.81, 513.75, -278.92)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 569.81, "y": 513.75, "z": -278.92}}]}


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: 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 (383.79, 218.54, -146.57)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 383.79, "y": 218.54, "z": -146.57}}]}


Input: Grab the blue block and bring it backward.

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


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

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


Input: Shift 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: Set suction cup off.

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


Input: Shift the robot moving left

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


Input: Navigate to (315.84, 78.63, -47.1) and then activate suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 315.84, "y": 78.63, "z": -47.1}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Shift 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: Climb up and then go down

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


Input: Place the arm to wheren the white block is located

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


Input: Position the yellow block so it's at the back of the white block.

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


Input: Move to the yellow block coordinates and then activate suction

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


Input: Get the robot upward

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


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

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


Input: Shift the robot to go backward

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


Input: Get the robot arm to go backward four times

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


Input: Proceed to the right and then activate suction cup

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


Input: Go up and then activate the suction cup

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


Input: Make the robot arm move to the left

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


Input: Shift the robot to go forward

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


Input: Turn on suction and then move to yellow block

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


Input: Reach (204.96, 167.99, -52.05), go right, deactivate suction, then move down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 204.96, "y": 167.99, "z": -52.05}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Navigate to (448.7, 363.3, 37.2), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 448.7, "y": 363.3, "z": 37.2}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Direct the arm to yellow block coordinates

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


Input: Shift the robot forward 3 times

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


Input: Shift the robot moving backward

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


Input: Move robotic arm to left

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


Input: Go towards yellow block, turn left, turn 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: Go to red block coordinate and move rightward.

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


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

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


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

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


Input: Get the arm to the up direction

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


Input: Move to the left and grab the black block

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


Input: Move right and then reach (279.62, 149.38, -50.92)

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


Input: Get the robot arm to the right

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


Input: Navigate to (210.0, 160.0, -45.0), turn right, and then turn off suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 210.0, "y": 160.0, "z": -45.0}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the robot 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 robot to go right 3 times

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


Input: Go up and then proceed to (209.56, 178.21, -56.92)

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


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

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


Input: Move the robotic arm to coordinates (450, 290, -110).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 450, "y": 290, "z": -110}}]}


Input: Move the robotic arm to coordinates (310, 160, -65).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 310, "y": 160, "z": -65}}]}


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

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


Input: Navigate to (256.44, 128.79, -51.54) and then activate suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 256.44, "y": 128.79, "z": -51.54}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


Input: Grab the red block and move it forward.

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


Input: Shift the the robotic arm to the down twice

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


Input: Turn on suction, reach coordinates (238.22, 232.55, -64.35), move upwards, then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 238.22, "y": 232.55, "z": -64.35}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Activate suction, go to (187.29, 224.71, -53.02), ascend, then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 187.29, "y": 224.71, "z": -53.02}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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: Move the robotic arm to the right 3 times

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


Input: Proceed leftward followed by an upward elevation

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


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

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


Input: Move towards the forward direction

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


Input: Switch on suction, move to the left, move upwards, 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 to coordinate (932.34, 224.67, -153.98)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 932.34, "y": 224.67, "z": -153.98}}]}


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

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


Input: 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: Go to (251.2, 201.6, -27.1), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 251.2, "y": 201.6, "z": -27.1}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Get the robot to go left twice

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


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 to the location of the red block and turn on suction.

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


Input: Shift the arm to the up direction

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


Input: Shift the robotic arm to go up

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


Input: Shift the robot to go down 3 times

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


Input: Move the robotic arm to coordinates (390, 230, -80).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 390, "y": 230, "z": -80}}]}


Input: Make the robot move to the left four times

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


Input: Move the arm to (3557, -2674, 67).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 3557, "y": -2674, "z": 67}}]}


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

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


Input: Shift rightward and then ascend

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


Input: Move leftward

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


Input: Move arm to 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 towards the up direction twice

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


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: Activate suction.

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


Input: Proceed to the white block's coordinates

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


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

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


Input: Move to coordinate (742.11, 359.87, -209.45)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 742.11, "y": 359.87, "z": -209.45}}]}


Input: Proceed rightward followed by an upward elevation

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


Input: Get the robot moving 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: Make the arm move to the down

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


Input: Proceed to (280.0, 230.0, -10.0), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 280.0, "y": 230.0, "z": -10.0}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move yourself to the backward direction direction

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


Input: Shift left and then go up

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


Input: Go to green block and move it backward

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


Input: Shift the robotic arm to the right twice

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


Input: Move up and then go down

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


Input: Shift towards the right and then rise

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


Input: Go to (283.1, 225.1, -16.9), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 283.1, "y": 225.1, "z": -16.9}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move to white block position 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: Make the robotic arm move to the right

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


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

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


Input: Move the arm to (1745, -851, 44).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 1745, "y": -851, "z": 44}}]}


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

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


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

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


Input: Move 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: Navigate to (635.0, 520.9, 97.9), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 635.0, "y": 520.9, "z": 97.9}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move towards the backward direction twice

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


Input: Ascend, capture white block, and deactivate 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: Activate suction and move towards the position of the white block

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


Input: Grab the blue block and move it backward.

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


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

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


Input: Move robotic arm to the down 3 times

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


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

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


Input: Get the robot arm to go up direction

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


Input: Make the arm move to white block position

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


Input: Go left and then move down

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


Input: Shift the robot moving down

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


Input: Move leftwards and then go down

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


Input: Make the robot arm move to the right

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


Input: Deactivate suction cup.

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


Input: Get the robot in the backward direction

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


Input: Approach (227.68, 143.56, -54.07), shift right, switch off suction, then shift down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 227.68, "y": 143.56, "z": -54.07}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move the arm to (3669, -2786, 49).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 3669, "y": -2786, "z": 49}}]}


Input: Navigate to the backward and then to the forward

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


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: Navigate to (336.27, 59.59, -43.36) and then activate suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 336.27, "y": 59.59, "z": -43.36}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


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: Move to (890.75, -401.25, 60.30)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 890.75, "y": -401.25, "z": 60.3}}]}


Input: Go right, then go up

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


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

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


Input: Get the robot arm to go right

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


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

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


Input: Turn on suction cup and go to the right

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


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

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


Input: Get the robotic arm to go left

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


Input: Make the robot move to the up direction

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


Input: Switch suction off.

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


Input: Proceed to (236.28, 136.75, -54.66), go right, turn off the suction, then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 236.28, "y": 136.75, "z": -54.66}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move to (1020.33, -265.71, 50.19)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 1020.33, "y": -265.71, "z": 50.19}}]}


Input: Make the red block move forward.

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


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: Turn on the suction.

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


Input: Get the arm towards the forward direction

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


Input: Shift the robot arm to the right

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