Datasets:

Aryaduta

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dataset_eng

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Slide the yellow block to the right

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the position of the blue block to the left

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the position of the yellow block to the right

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the purple block to the right position

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the position of the yellow block to the left

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the blue block forward

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the position of the yellow block to the right

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Put a blue block toward the back

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Put the purple block to the right

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Put a yellow block toward the front

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the position of the blue block to the right

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the position of the purple block backwards

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the purple block to the front

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the purple block to the right

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the position of the purple block to the front

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the position of the blue block to the back

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Put the purple block toward the back

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the yellow block position to the left position

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the yellow block to the right

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the yellow block to the back

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the position of the blue block to the front

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the position of the yellow block to the back

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the yellow block towards the front

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the yellow block forward

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the position of the blue block to the right

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the position of the yellow block to the right

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the purple block towards the back

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the yellow block to the right

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the blue block to the front

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the blue block to the right

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Put the blue blocks to the left

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the blue block to the front

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the position of the purple block to the right

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the position of the blue block to the back position

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the yellow block position to the back position

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the position of the blue block towards the back

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the blue block to the right position

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the blue block to the left position

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the yellow block position to the left

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Put a yellow block toward the back

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the purple block to the right position

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the yellow block to the left

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the purple block to the back position

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the yellow blocks toward the right

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the yellow block to the left

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "left"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the yellow block to the front

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the blue block to the back position

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the yellow block to the front

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the purple block to the front

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the blue block to the right position

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the purple block forward

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the position of the yellow block to the right

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the yellow block position to the right position

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the position of the purple block backwards

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the blue block towards the front

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Put the yellow blocks to the right

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the purple block to the front

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Place the position of the purple block to the front

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Slide the blue block towards the back

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the purple block to the back position

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "back"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the blue block forward

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "front"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Move the yellow block position to the right position

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}, {"command": "suction_cup", "parameters": {"action": "on"}}, {"command": "move", "parameters": {"direction": "right"}}, {"command": "suction_cup", "parameters": {"action": "off"}}]}

Shear End Effector at Yellow block Point

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}

Slide the tip of the robot arm to the front

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

Put the end of the arm toward the back

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

adjust the robot to point (-27,180, -154)

{"actions": [{"command": "move_to", "parameters": {"x": -27, "y": 180, "z": -154}}]}

Move the End Effector to be in a position (59,124,22)

{"actions": [{"command": "move_to", "parameters": {"x": 59, "y": 124, "z": 22}}]}

Start the suction

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

Move the End Effector to Location (-27,180, -154)

{"actions": [{"command": "move_to", "parameters": {"x": -27, "y": 180, "z": -154}}]}

adjust the end effector to be in position (18,170,191)

{"actions": [{"command": "move_to", "parameters": {"x": 18, "y": 170, "z": 191}}]}

Place the tip of the robot arm in the position (-223, -179, -72)

{"actions": [{"command": "move_to", "parameters": {"x": -223, "y": -179, "z": -72}}]}

Move the robot to be at point (168,34,223)

{"actions": [{"command": "move_to", "parameters": {"x": 168, "y": 34, "z": 223}}]}

Move the Robot End Effector at the location of the blue block

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}]}

Direct the end of the arm to the location (-223, -179, -72)

{"actions": [{"command": "move_to", "parameters": {"x": -223, "y": -179, "z": -72}}]}

Slide the end of the arm to the back position

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

Place the robot to reach location (-223, -179, -72)

{"actions": [{"command": "move_to", "parameters": {"x": -223, "y": -179, "z": -72}}]}

Navigate the end of the arm to the point (18,170,191)

{"actions": [{"command": "move_to", "parameters": {"x": 18, "y": 170, "z": 191}}]}

Slide the robot to the point (232,123,232)

{"actions": [{"command": "move_to", "parameters": {"x": 232, "y": 123, "z": 232}}]}

Turn on the suction device

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

set the end effector position to be on the right

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

Slide the tip of the robot arm into location (-223, -179, -72)

{"actions": [{"command": "move_to", "parameters": {"x": -223, "y": -179, "z": -72}}]}

Adjust the end effector position to the left

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

Robot end effector slide in the top position

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

Starting the end of the suction

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

Adjust the position of the robot arm to the right position

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

Move the arms to the top position

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

Turn on the sucker

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

Move the end of the arm to the yellow block point

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}

Place the robot arm in the bottom position

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

Turn on the Suction Cup

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

move the end of the arm to the left

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

Slide the robot to reach the point (-223, -179, -72)

{"actions": [{"command": "move_to", "parameters": {"x": -223, "y": -179, "z": -72}}]}

Slide the end of the arm in the position of the purple block

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}]}

Move the end of the arm to the position of the purple block

{"actions": [{"command": "move_to", "parameters": {"x": -86.59, "y": 117.21, "z": -122.30}}]}

Arrange the position of the tip of the robot arm to the back

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

Move the End Effector into the position of the Blue block

{"actions": [{"command": "move_to", "parameters": {"x": 152.76, "y": 158.92, "z": 6}}]}

Slide the robot to reach the location of the yellow block

{"actions": [{"command": "move_to", "parameters": {"x": -168.94, "y": -129.37, "z": -68}}]}

Put End Effector to be on top

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

Arrange the position of the tip of the robot arm below

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

point the robot to the left

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