Datasets:

Aryaduta

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test-data

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Shift the robot arm to go up direction

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

Move to (261.22, 76.38, -68.41)

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

Make the robot move to the forward direction four times

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

Go to green block coordinate and move rightward.

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

Activate suction, go left, ascend, then go right

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

Make the robot move to the up 3 times

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

Get the arm to the forward direction direction twice

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

Move to (462.16, 301.82, -190.44)

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

Move towards the up direction

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

Go right, move downwards, then proceed to the left

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

Get the robotic arm to the left four times

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

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

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

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

{"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"}}]}

Move the robotic arm to the right twice

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

Move the robotic arm down

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

Turn on suction cup and move upwards

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

Shift the position of the yellow block forward of the white block.

{"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"}}]}

Shift the the robotic arm right four times

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

Move to (335.71, 167.37, -115.94)

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

Go downward and then turn on suction cup

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

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

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

Go left and then move up

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

Go to yellow block location, go left, and turn on suction

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

Get the the robotic arm to the right

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

Relocate the yellow block to be in front of the white block.

{"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"}}]}

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

{"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"}}]}

Head towards the white block

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

Reach yellow block, navigate left, and activate suction

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

Navigate to where the yellow block is located

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

Move leftward, go up, and then descend

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

Shift the robot moving right twice

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

Get the robotic arm to the forward direction 3 times

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

Make the robot move to the forward direction twice

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

Move to the position of the yellow block, then move left, and activate suction cup

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

Make the robotic arm move to the down twice

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

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

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

Reach the location of the yellow block

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

Get the robot to the down direction

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

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

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

Adjust the yellow block so it's in front of the white block.

{"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"}}]}

Shift the robot leftward

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

Move left, ascend, then descend

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

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

{"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"}}]}

Turn on suction, reach coordinates (244.51, 237.95, -64.82), move upwards, then turn off suction

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

Turn on suction cup and move downwards

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

Enable suction cup.

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

Move sideways to the forward direction

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

Proceed leftward followed by an downward elevation

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

Proceed down and then activate suction cup

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

Get the the robotic arm to the backward direction twice

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

Make the arm move to the left four times

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

Move backward twice

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

Disable suction cup.

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

Move sideways to the backward direction

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

Move to coordinate (666.92, 456.87, -294.76)

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

Move the arm to coordinates of the yellow block

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

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

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

Shift the robot forward twice

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

Move the robot to the forward direction direction

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

Take custody of yellow block, go up, and then turn off suction

{"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"}}]}

Turn suction on.

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

Shift to the right and then shift towards the left

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

Get the robot arm to go backward direction four times

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

Get the robot arm to go forward

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

Turn on suction cup and navigate down

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

Get the robot arm to go left direction

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

Get the robot arm to go right four times

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

Move down four times

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

Shift the robot arm to go right 3 times

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

Move to (486.40, 256.10, -121.41)

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

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

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

Make the robot move to the right

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

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

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

Get the robotic arm towards the right direction

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

Move left, move to white block, activate suction, then go up

{"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"}}]}

Head up and then switch on suction cup

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

Approach yellow block, shift left, switch on suction, then shift right

{"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"}}]}

Get the robot to go backward four times

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

Move arm to the forward direction 3 times

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

Shift the robot leftward 3 times

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

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

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

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

{"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"}}]}

Get the robot to go down twice

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

Get the robot to go right four times

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

Shift to the left, ascend, then move down

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

Head down and then switch on suction cup

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

Get the robotic arm towards forward direction

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

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

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

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

{"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"}}]}

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

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

Move to the right twice

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

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

{"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"}}]}

Get the robot arm to go backward 3 times

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

Shift the robotic arm towards left direction

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

Stop the suction cup.

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

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

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

Get the robot in the right direction

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

Shift the robot moving down 3 times

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

Grasp the violet block and push it forward.

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

Rearrange the yellow block to be behind the white block.

{"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"}}]}