Input: Switch the suction off.

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


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

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


Input: 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 the arm towards the backward direction

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


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: Turn on suction cup and shift right

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


Input: Go to yellow block location, then shift left, and turn on suction cup

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


Input: 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 (142.65, 198.34, -49.21) and then proceed upward

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


Input: Get the the robotic arm to the down twice

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


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

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


Input: Shift the robot moving down twice

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


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

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


Input: Move the robotic arm to coordinates (450, 320, -125).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 450, "y": 320, "z": -125}}]}


Input: Proceed to (289.21, 101.68, -49.82) and then activate suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 289.21, "y": 101.68, "z": -49.82}}, {"command": "suction_cup", "parameters": {"action": "on"}}]}


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

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


Input: Move to coordinate (598.76, 523.98, -260.45)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 598.76, "y": 523.98, "z": -260.45}}]}


Input: Get 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: Grab the violet block and move it forward.

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


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

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


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: Shift the robot moving backward four times

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


Input: 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 arm move to the up twice

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


Input: Move the arm to (3107, -2223, 49).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 3107, "y": -2223, "z": 49}}]}


Input: Move the robotic arm to coordinates (400, 300, -160).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 400, "y": 300, "z": -160}}]}


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

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


Input: Let suction on.

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


Input: Move up twice

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


Input: Go to the yellow block's position

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


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

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


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

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


Input: Move leftward, go up, and then descend

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


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

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


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

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


Input: Rearrange the yellow block to be placed behind the white block.

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


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

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


Input: Move the robot to the backward direction direction

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


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

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


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

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


Input: Move the robotic arm left four times

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


Input: Shift the 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: 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: Turn on suction cup and shift up

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


Input: Get the robotic arm to go down twice

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


Input: Shift the 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: Shift the robot in the right direction

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


Input: Activate suction, proceed to location (201.14, 224.94, -60.29), go upwards, then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 201.14, "y": 224.94, "z": -60.29}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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

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


Input: Shift the robot rightward

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


Input: Shift the arm towards the forward direction

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


Input: Move to the left

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


Input: Get the robot arm to the backward direction

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


Input: Start suction cup.

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


Input: Move towards yellow block, go left, and activate suction cup

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


Input: Switch on suction, move to position (231.84, 210.89, -57.99), ascend, then switch off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 231.84, "y": 210.89, "z": -57.99}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Go to (531.5, 432.8, 64.1), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 531.5, "y": 432.8, "z": 64.1}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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: Navigate to (324.5, 258.5, -3.4), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 324.5, "y": 258.5, "z": -3.4}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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

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


Input: Get the robot arm to go up direction twice

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


Input: Move to coordinate (418.49, 348.76, -94.14)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 418.49, "y": 348.76, "z": -94.14}}]}


Input: Move the robotic arm to coordinates (430, 300, -115).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 430, "y": 300, "z": -115}}]}


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

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


Input: 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: Activate suction, go to (238.89, 231.07, -62.18), ascend, then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 238.89, "y": 231.07, "z": -62.18}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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

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


Input: Move downwards followed by a upward movement

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


Input: Move the arm to (5145, -4262, 48).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 5145, "y": -4262, "z": 48}}]}


Input: Move to the up, and then down, and then left, and then 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 robotic arm to the left

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


Input: Shift the robot downward

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


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: Get the robot in the forward direction

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


Input: Navigate to the white block position 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: Move to coordinate (815.23, 197.42, -133.50)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 815.23, "y": 197.42, "z": -133.5}}]}


Input: Turn on suction, shift left, go up, 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 to (1014.20, -266.30, 49.19)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 1014.2, "y": -266.3, "z": 49.19}}]}


Input: Go to (214.38, 156.59, -53.21), move right, turn off the suction, then go down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 214.38, "y": 156.59, "z": -53.21}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"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: Transfer the white block to the right side of the yellow block.

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


Input: Shift the robot to go down

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


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

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


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

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


Input: Shift the robot to the up direction

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


Input: Move towards the forward direction twice

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


Input: Get the robotic arm towards left direction

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


Input: Go to the yellow block position 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: Grab violet block and shift it to the right.

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


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: 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: Turn on suction cup and move left

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


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: 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: Shift the robot moving up

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


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

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


Input: Shift the robotic arm to the right four times

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


Input: Get the robot to go down

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


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

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


Input: Shift the robotic arm to go right 3 times

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


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

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


Input: Move to (240.12, 49.81, -53.76)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 240.12, "y": 49.81, "z": -53.76}}]}


Input: Get the robot moving backward

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


Input: Get the robot leftward

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


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

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


Input: Shift the robot forward four

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


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

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


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

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


Input: Shift the robot to the down direction

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


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

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


Input: Go to black block location.

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


Input: Get the robotic arm towards the up direction

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


Input: Set suction off.

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


Input: Put the yellow block onto the white one.

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


Input: Turn on suction cup and then go left

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


Input: Make the arm move to the forward direction

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


Input: Travel to the yellow block's position

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


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

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


Input: Shift the robot rightward

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


Input: Move towards the down direction

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


Input: Get the robot arm to go backward direction twice

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


Input: Navigate to the yellow block's location

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


Input: Get the robot to go up 3 times

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


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

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


Input: Get the arm to the left direction twice

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


Input: Make the arm move to the backward direction twice

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


Input: Get the the robotic arm left

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


Input: Move to (217.46, 161.84, -53.31), shift right, switch off suction, then move down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 217.46, "y": 161.84, "z": -53.31}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


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

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


Input: Make the violet block forward of the violet block

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


Input: Move 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: 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: Stop the suction.

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


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

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


Input: Activate suction, move to the left, rise, then move right

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


Input: 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: Navigate to (270.0, 220.0, -15.0), go down, and then turn off suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 270.0, "y": 220.0, "z": -15.0}}, {"command": "move", "parameters": {"direction": "down"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


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

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


Input: Position the arm to white block coordinates

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


Input: Move robotic arm to 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 position of blue block and go forward

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


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

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


Input: Move 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: Move the robotic arm to the up

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


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

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


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

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


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

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


Input: Shift the robot rightward four

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


Input: Reach (187.43, 167.82, -54.78) and then move up

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


Input: Get the arm to the forward direction direction four times

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


Input: Move arm to the right 3 times

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


Input: Navigate to (415.8, 337.8, 27.0), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 415.8, "y": 337.8, "z": 27.0}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Shift the robotic arm to the right twice

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


Input: Shift the robotic arm towards the left direction

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


Input: Go to (215.46, 155.95, -53.12), move right, turn off the suction, then move down

Response: {"actions": [{"command": "move_to", "parameters": {"x": 215.46, "y": 155.95, "z": -53.12}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}, {"command": "move", "parameters": {"direction": "down"}}]}


Input: Move the arm to (4119, -3236, 63).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 4119, "y": -3236, "z": 63}}]}


Input: Shift the robotic arm to the left 3 times

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


Input: Go down and then switch on suction cup

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


Input: Shift the the robotic arm forward 3 times

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


Input: Place the white block above the yellow block.

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


Input: Switch on suction, navigate to position (202.55, 195.86, -58.14), move upward, then switch off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 202.55, "y": 195.86, "z": -58.14}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robotic arm to the down 3 times

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


Input: Move towards the up direction four times

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


Input: Move towards the yellow block position, then 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: Shift the robot arm to go down 3 times

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


Input: Move to coordinate (356.33, 267.32, -78.17)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 356.33, "y": 267.32, "z": -78.17}}]}


Input: Move robotic arm to right 3 times

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


Input: Proceed to the position of the yellow block 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: Get the robot arm to go backward direction

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


Input: Shift the robot to go forward twice

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


Input: Shift the robot arm to go forward direction twice

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


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: Set 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: Go upwards and then come downwards

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


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

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


Input: Move arm to the up four times

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


Input: Get the arm to the forward direction direction

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


Input: Move the robotic arm left

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


Input: Activate suction, go to (229.36, 224.02, -59.49), ascend, then deactivate suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 229.36, "y": 224.02, "z": -59.49}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Turn on suction cup and shift down

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


Input: Proceed to (220.0, 170.0, -40.0), go up, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 220.0, "y": 170.0, "z": -40.0}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move the robotic arm down four times

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


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

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


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

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


Input: 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: Get the robot forward

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


Input: Grab the violet block and move it backward.

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


Input: Get the robot to go right

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


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

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


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

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


Input: 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: Grasp the yellow block, ascend, and switch off suction

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


Input: Shift the robotic arm to the down 3 times

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


Input: Shift the robot arm to the up

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


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

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


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

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


Input: 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: Navigate to (300.0, 250.0, 0.0), go up, and then turn off suction

Response: {"actions": [{"command": "move_to", "parameters": {"x": 300.0, "y": 250.0, "z": 0.0}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Move to (371.04, 206.21, -139.39)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 371.04, "y": 206.21, "z": -139.39}}]}


Input: Move to (697.40, 46.80, -50.85)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 697.4, "y": 46.8, "z": -50.85}}]}


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

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


Input: Get the the robotic arm forward

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


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: Deactivate the suction.

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


Input: Go rightward and then turn on suction cup

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


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: Get the the robotic arm to the forward direction twice

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


Input: Move the robotic arm to the right four times

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


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

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


Input: Proceed to (457.2, 373.2, 40.5), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 457.2, "y": 373.2, "z": 40.5}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Get the robotic arm to the down twice

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


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

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


Input: Get the the robotic arm right

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


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

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


Input: Get the the robotic arm backward four times

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


Input: 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 robotic arm to the right four times

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


Input: Proceed to the location of the yellow block

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


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

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


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

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


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

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


Input: Make the robotic arm move to the down

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


Input: Grab the blue block and move it forward.

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


Input: Get the robotic arm to the forward direction

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


Input: Move the arm to (1294, -396, 67).

Response: {"actions": [{"command": "move_to", "parameters": {"x": 1294, "y": -396, "z": 67}}]}


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

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


Input: Move to (280.18, 102.44, -82.17)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 280.18, "y": 102.44, "z": -82.17}}]}


Input: Go to yellow block position, then move towards left side and turn on suction

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


Input: Shift right, move downwards, then leftward

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


Input: Move 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 to yellow block position, then move left, and activate suction cup

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


Input: Approach yellow block, shift left, activate suction, then shift right

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


Input: Proceed up and then activate suction cup

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


Input: Get the robot to go backward

Response: {"actions": [{"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: Shift the robot arm to go right four times

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


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

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


Input: Move left and then turn on suction cup

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


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

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


Input: Shift the the robotic arm down twice

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


Input: Get the robot downward

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


Input: Move towards the right direction four times

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


Input: Turn on suction, reach coordinates (246.65, 240.15, -65.04), move upwards, then turn off suction

Response: {"actions": [{"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move_to", "parameters": {"x": 246.65, "y": 240.15, "z": -65.04}}, {"command": "move", "parameters": {"direction": "up"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Get the the robotic arm down twice

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


Input: Move yourself to the up direction

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


Input: Reach yellow block, move to the left, activate suction, and then 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: Grasp the black block and push it forward.

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


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

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


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

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


Input: Get the the robotic arm backward

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


Input: Move the robotic arm to the down twice

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


Input: Get the arm to the down direction twice

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


Input: Shift the the robotic arm left twice

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


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

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


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

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


Input: Shift the robot arm to go right

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


Input: Turn on suction cup and move right

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


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

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


Input: 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 right four times

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


Input: Move down twice

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


Input: Proceed to (581.4, 478.1, 81.0), turn left, and then turn off suction cup

Response: {"actions": [{"command": "move_to", "parameters": {"x": 581.4, "y": 478.1, "z": 81.0}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}


Input: Make the 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: Travel to yellow block, shift left, and activate the suction

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


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

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


Input: Move to (230.75, 36.94, -45.89)

Response: {"actions": [{"command": "move_to", "parameters": {"x": 230.75, "y": 36.94, "z": -45.89}}]}


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

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


Input: Get the robot arm to go right direction twice

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